Robot behavior
==============

<mode> := :paused | :patrol | :fault
<event> := :pause | :run | :rejected | :reset

#Robot(mode<mode>, event<event>) => <mode> :=
  | :Dispatch(mode<mode>, event<event>)
  | :Paused
  | :Patrol
  | :Fault.

#Robot(mode, event) -> :Dispatch(mode, event)
  :Dispatch(*, :reset) -> :Paused
  :Dispatch(*, :rejected) -> :Fault
  :Dispatch(:fault, *) -> :Fault
  :Dispatch(*, :pause) -> :Paused
  :Dispatch(*, :run) -> :Patrol
  :Paused => :paused
  :Patrol => :patrol
  :Fault => :fault
.