Patent attributes
Methods, apparatus, systems, and computer-readable media are provided for real time robot implementation of state machines. In various implementations, a robot controller may state machine data indicative of a state machine to be implemented by the robot controller while operating a robot. The robot controller may identify one or more states reachable by the robot controller during implementation of the state machine. At least a first state of the one or more states may include: a first action to be performed by the robot while the robot controller is in the first state; and a plurality of strategies to govern performance of the first action under multiple circumstances while the robot controller is in the first state. The robot controller may operate the robot to perform the first action in a manner governed by a first strategy of the plurality of strategies. The robot controller may operate the robot to continue performing the first action in a manner governed by a second strategy of the plurality of strategies in response to a sensor signal.
