Module 3- Session 3-Finite State
Automata
Finite State Automata (FSA)
Finite Automata(FA) is the simplest machine
to recognize patterns. The finite automata
or finite state machine is an abstract
machine that has five elements or tuples. It
has a set of states and rules for moving
from one state to another but it depends
upon the applied input symbol. Basically, it
is an abstract model of a digital computer.
Finite Automata consists of the following :
: Finite set of states.
: set of Input Symbols.
: Initial state.
: set of Final States.
: Transition Function.
Formal specification of machine is
{ Q, Σ, q, F, δ }
For example, below DFA with Σ = {0, 1}
accepts all strings ending with 0.
FSA in Robotics
• Why Use FSA in Robotics?
– Modular Design: FSAs allow complex robot behavior to be
broken down into simpler, manageable states.
– Predictable Behavior: Robots follow a well-defined sequence of
actions.
– Task Automation: FSA is useful for controlling tasks that have
multiple steps, such as navigation, grasping, and following
paths.
• Common Use Cases:
– Navigation and route planning.
– Obstacle avoidance.
– Simple task automation like pick-and-place operation
Basic Structure of FSA in Robotics
• States: Define robot’s operational modes (e.g., idle, moving,
avoiding obstacle).
• Example: A robot vacuum might have states like Idle, Move
Forward, Avoid Obstacle, and Return to Base.
• Transitions: Triggered by specific events or conditions (e.g.,
sensor input, timers, user commands).
• Example: Transition from "Move Forward" to "Avoid Obstacle"
upon detecting an obstacle.
• Actions: Performed during state transitions or while in a state.
• Example: In the Move Forward state, the robot continuously
moves until a transition condition (like an obstacle) occurs.
Example: FSA in Obstacle Avoidance Robot
• States:
– Idle: Robot is stationary.
– Move Forward: Robot is moving forward.
– Avoid Obstacle: Robot detects an obstacle and navigates around it.
– Goal Reached: Robot arrives at the target location.
• Transitions:
– From Idle to Move Forward: Triggered by a start command.
– From Move Forward to Avoid Obstacle: Triggered by sensor detecting an
obstacle.
– From Avoid Obstacle to Move Forward: Once the obstacle is bypassed.
– From Move Forward to Goal Reached: When the robot reaches the target.
• Actions:
– In Move Forward: Robot’s motors are active, moving it forward.
– In Avoid Obstacle: Robot calculates a new path and moves around the obstacle.
Advantages of FSA in Robotics
• Clarity: The logic of robot behavior is clear and easy to
follow.
• Modularity: States can be designed and tested
independently.
• Predictability: FSA ensures the robot behaves in a
predictable and deterministic manner.
• Efficiency: States and transitions allow for optimized
decision-making, minimizing unnecessary actions.
• Ease of Implementation: FSAs are simple to implement in
control software using conditional statements, switch
cases, or event-driven programming.
Challenges and Limitations of FSA in Robotics
• State Explosion: For complex tasks, the number of states
can grow exponentially, making it hard to manage.
• Rigid Behavior: FSAs lack flexibility when dealing with
unexpected situations unless all cases are predefined.
• Scalability: FSAs become less efficient and harder to
maintain as the robot’s complexity increases.
• Handling Uncertainty: Robots often deal with uncertain
environments, and FSAs are less effective without
thorough state definition for all possible events.
Case Study: FSA in a Robot Navigation
System
• Goal: Design an FSA for a robot that navigates a maze.
• States:
– Idle: Robot is waiting for a start command.
– Explore: Robot moves forward until an obstacle is encountered.
– Turn Left: Robot turns left if it detects a dead end.
– Turn Right: Robot turns right if the left is blocked.
– Goal Found: Robot reaches the endpoint of the maze.
• Transitions:
– From Idle to Explore: Triggered by start command.
– From Explore to Turn Left: Triggered by detecting an obstacle.
– From Turn Left to Explore: Once the robot completes the turn.
– From Explore to Goal Found: When robot detects the end of the maze.
Amity School of Engineering &
Technology
FSA representation of the coordination and
control of behaviors in the UGV competition
Amity School of Engineering &
Technology
A Pickup the trash FSA
