Bicategories of Automata, Automata in Bicategories

We study bicategories of (deterministic) automata, drawing from prior work of Katis-Sabadini-Walters, and Di Lavore-Gianola-Román-Sabadini-Sobociński, and linking their bicategories of `processes' to a bicategory of Mealy machines constructed in 1974 by R. Guitart. We make clear the sense in which Guitart's bicategory retains information about automata, proving that Mealy machines á la Guitart identify to certain Mealy machines á la K-S-W that we call fugal automata; there is a biadjunction between fugal automata and the bicategory of K-S-W. Then, we take seriously the motto that a monoidal category is just a one-object bicategory. We define categories of Mealy and Moore machines inside a bicategory B; we specialise this to various choices of B, like categories, relations, and profunctors. Interestingly enough, this approach gives a way to interpret the universal property of reachability as a Kan extension and leads to a new notion of 1- and 2-cell between Mealy and Moore automata, that we call intertwiners, related to the universal property of K-S-W bicategory.