A Compositional Sheaf-Theoretic Framework for Event-Based Systems
Robotics
2021-01-27 v1
Abstract
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.
Cite
@article{arxiv.2101.10485,
title = {A Compositional Sheaf-Theoretic Framework for Event-Based Systems},
author = {Gioele Zardini and David I. Spivak and Andrea Censi and Emilio Frazzoli},
journal= {arXiv preprint arXiv:2101.10485},
year = {2021}
}
Comments
In Proceedings ACT 2020, arXiv:2101.07888. arXiv admin note: substantial text overlap with arXiv:2005.04715