Hybrid I/O automata for behavior control system of mobile robots

This paper describes a behavioral control system of a mobile robot using hybrid input/output automata (HIOA), considering the entire system. This robot HIOA model allowed us to decompose the system and include external behaviors which capture relationships between system components. Different languages were used for each component depending on the intrinsic nature of its trajectory and discrete transition. Using receptive strategies, the robot was verified to show that the system is without local Zeno execution. The mobile robot was designed to smoothly navigate safely through an unfamiliar environment with high obstacle density and work on objects of interest in view.