Finite state modeling of mobile robots for complexity determination
Rahul Ranjan, Harpreet Singh, Anuj Awasthi, William Smuda, Grant R. Gerhart · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2006
Development of software for autonomous ground vehicles has been a mission critical issue for army. For the last two decades, different definitions of software complexity have been proposed. However, no definition has been found to be highly satisfactory. So in this report, a new definition of software complexity based on the rank of a matrix of a finite sequential machine has been proposed. Software has been developed to determine the complexity, so that it could be used in the early stages of software development from the data flow architecture to save cost and development efforts. We have shown the examples of data flow architecture and then complexity calculation based on our software. It is hoped that the results in this paper will help software development to address reliability and complexity issues of autonomous ground vehicle in a better way to assist research in defense and security for such missions.