Z [infinity] : a framework for reactive autonomous agent specification and analysis

We propose a framework for the specification and analysis of autonomous agents. In general, such agents require several levels of behavioral specifications, including low-level reflex actions, midlevel controllers to deal with the physical aspects of the world, and high-level representations for goals and plans. In this study, we focus on the midlevel control problem (e.g., obstacle avoidance, grasping, etc.) and explore the following: ; 1. the use of real-time programming languages as behavior specification tools, ; 2. the use of graphical interactive tools, and; 3. the physical based simulation and animation of robotics systems.