Using LearnLib to learn automata of robotic controllers

[Teck Ping Khoo]

Good day everyone

I have access to the following two systems, and am able to write controllers/simulate for them as well:

[1] https://www.universal-robots.com/products/ur10-robot/

[2] https://www.roscomponents.com/en/mobile-robots/97-kobuki.html

[1] is an articulated robotic arm with a gripper. [2] is a vacumm cleaner robot base which has been re-engineered to be highly programmer by ROS.

I am exploring how I can use LearnLib to learn models of controllers for these systems. For example, [1] can be programmed for a pick and place task and can transit among the states "Positioning to grip object", "Picked object", "Placed object", and back to "Waiting". [2] can be programmed to transit among the states "Waiting at docking station", "Moving to a target", and "Moving back to docking station". 

I tried to find examples of research papers in this direction but could not find any. Any hints are appreciated!

Regards

Teck Ping