Most interesting part, IMO: "This program uses a form of linguistics, comparable to using the alphabet in the English language. The robots use their own alphabe

Most interesting part, IMO: "This program uses a form of linguistics, comparable to using the alphabet in the English language. The robots use their own alphabet to construct words, with the 'letters' of these words relating to what the robots perceive and to the actions they choose to perform. The supervisory control theory helps the robots to choose only those actions that eventually result in valid 'words'. Hence, the behaviour of the robots is guaranteed to meet the specification."