Models of computation for reactive control of autonomous mobile robots

The paper studies computation models for tasks performed by autonomous mobile robots. Such tasks can be accomplished by reactive control algorithms. Reactive control systems can be described using different models of computation which have as distinguishing feature the abstraction level of time. Thus, three computation models are defined: the untimed model, the synchronous model and the timed model. It is shown that the clocked-synchronous model of computation is more appropriate for describing the controller for a parallel parking task.