Behavior-based control system of a robot actively recognizing hand postures

Complex robotic systems require a formal method of specification that guides the system developer and facilitates the implementation. In this paper the proposed formalism is utilized to specify a control system of a robot identifying hand postures. The formalism is based on the concept of an agent and the description of an agent's behaviors by defining transition functions. The presented exemplary system — a robot capable of actively adjusting its location so as to recognize reliably hand gestures presented by a human operator — needs to exhibit six behaviors, which are defined formally.