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Performance-Level Profiles (PLPs) were introduced as a type of action representation language suitable for capturing the behavior of functional code for robotics. This paper addresses two issues that PLPs raise: (1) Their formal semantics. (2) How to verify a script or a plan that schedule the use of components that have been documented by PLPs. We provide a formal semantics for PLPs by mapping them to probabilistic timed automata (PTAs). We also show how, given a script that refers to components specified using PLPs, we derive a PTA specification of the entire system. This PTA can be used to verify the system’s properties and answers queries about its behavior. Finally, we empirically evaluate an implemented system based on these ideas, demonstrating its scalability. The result is a pragmatic approach for verifying component-based robotic systems.

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Block-matrix model of treelike actuator of walking robot is developed by considering external links imposed. This paper proposes an algorithm of formation of the mathematical model based on the use of matrices (4x4) and graph theory. The authors showed efficiency of its use for walking robots (by example of a bipedal walking robot).