Figure 2
From: Combined perception and control for timing in robotic music performances
An example of state transition diagram of the position, velocity, and the acoustic event subspace for M = 16 and N = 9. The lines represent examples of possible state transitions where f(n τ ) = n τ . The shaded nodes indicate the position in a bar where claves can hit, provided that the rhythm pattern is the son clave. In other words, for this particular model, μ (m) = 1, ∀m ∈ {0, 3, 6, 10, 12}.