I have just finished a stable solution to use FSM using the Framework Apache Commons SCXML.
SCXML is an Standard promoted by W3C, State Chart XML (SCXML): State Machine Notation for Control Abstraction
I have uploaded a video using a SCXML file which it try to model a BumperCar.
http://www.youtube.com/watch?v=lU_vTx0f ... e=youtu.be
Further information and code here:
With SCXML, it is possible to design FSM and HFSM for LeJOS robots.