arXiv:2005.04715
A Compositional Sheaf-Theoretic Framework for Event-Based Systems (Extended Version)
A Compositional Sheaf-Theoretic Framework for Event-Based Systems (Extended Version)
著者: Gioele Zardini, David I. Spivak, Andrea Censi, Emilio Frazzoli
分類: eess.SY, cs.RO, cs.SY, eess.SP, math.CT
原文アブストラクト
A compositional sheaf-theoretic framework for the modeling of complex event-based systems is presented. We show that event-based systems are machines, with inputs and outputs, and that they can be composed with machines of different types, all within a unified, sheaf-theoretic formalism. We take robotic systems as an exemplar of complex systems and rigorously describe actuators, sensors, and algorithms using this framework.