Formal Composition of Robotic Systems as Contract Programs
Mason Nakamura,Justin Svegliato,Samer B. Nashed,Shlomo Zilberstein,Stuart Russell,Mason Nakamura,Justin Svegliato,Samer B. Nashed,Shlomo Zilberstein,Stuart Russell
Robotic systems are often composed of modular algorithms that each perform a specific function within a larger architecture, ranging from state estimation and task planning to trajectory optimization and object recognition. Existing work for specifying these systems as a formal composition of contract algorithms has limited expressiveness compared to the variety of sophisticated architectures that...
