Cooperation of visually guided behaviors

In this paper we present modeling, analysis and synthesis of visual behaviors of agents engaged in navi-gational tasks. We consider situations in which two agents can navigate independently or in cooperation. For the purpose of modeling the behaviors we have adopted a formalism from the Discrete Events Systems (DES) theory, suitable for investigating control-theoretic issues of a system. The focus of this paper is on the identiication of elementary behaviors and their composition leading to more complex behaviors. We distinguish two kinds of elementary behaviors: one where observations are directly connected with actions, and another where observations and actions are either received or transmitted. The use of the DES formalism allows us to synthesize complex behaviors in a systematic fashion and guarantee their controllability.