Specification of Robotic Systems on an Example of Visual Servoing

The paper presents a formal method of specifying complex robotic systems. Although the method is general, here it is applied to the description of two, however diverse, robot behaviours, in which the induced motion was computed on the basis of information retrieved from different cameras: a camera integrated with the robot gripper and a camera statically mounted above the scene. The presented experimental results confirm the correctness of the developed systems, thus validate the design method.