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Query Processing for Probabilistic State Diagrams Describing Multiple Robot Navigation in an Indoor Environment

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Executive Summary

This paper describes the syntax and semantics of multi-level state diagrams to support probabilistic behavior of cooperating robots. The techniques are presented to analyze these diagrams by querying combined robots behaviors. It is shown how to use state abstraction and transition abstraction to create, verify and process large probabilistic state diagrams. This paper addresses the problems in the area of robot navigation in an indoor environment. The authors assume that the robot not only responds directly to the environment but also to actions of other robots.

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