We have a tool to deal with single robots: https://www.cs.york.ac.uk/circus/RoboCalc/robotool/.
The tools uses a diagrammatic notation called RoboChart: http://barom.org.uk/robochart/documents/robochart-reference.pdf.
P. Ribeiro, A. Miyazawa, W. Li, A. L. C. Cavalcanti, and J. Timmis. Modelling and verification of timed robotic controllers. In N. Polikarpova and S. Schneider, editors, Integrated Formal Methods, pages 18--33. Springer, 2017. [ bib (https://www-users.cs.york.ac.uk/~alcc/publications/publications_bib.html#MRLCT17) | DOI (https://link.springer.com/chapter/10.1007%2F978-3-319-66845-1_2) | .pdf (https://www-users.cs.york.ac.uk/~alcc/publications/papers/RMLCT17.pdf) ]
FTE Category A staff submitted: 34.80
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