Petri Net Plans A framework for collaboration and coordination in multi-robot systems

被引：45
作者：
Ziparo, V. A. [1 ]
Iocchi, L. [1 ]
Lima, Pedro U. [2 ]
Nardi, D. [1 ]
Palamara, P. F. [1 ]
机构：
[1] Univ Roma La Sapienza, Dipartimento Informat & Sistemist Antonio Ruberti, I-00185 Rome, Italy
[2] IST, ISR, Lisbon, Portugal
来源：
AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS | 2011年 / 23卷 / 03期
关键词：
Petri Nets; Multi-robot systems; Formal models; Plan representation and execution; ARCHITECTURE; TASKS;
D O I：
10.1007/s10458-010-9146-1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Programming the behavior of multi-robot systems is a challenging task which has a key role in developing effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a language based on Petri Nets (PNs), which allows for intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and support a rich set of features that are critical to develop robotic applications, including sensing, interrupts and concurrency. As a central feature, PNPs allow for a formal analysis of plans based on standard PN tools. Moreover, PNPs are suitable for modeling multi-robot systems and the developed behaviors can be executed in a distributed setting, while preserving the properties of the modeled system. PNPs have been deployed in several robotic platforms in different application domains. In this paper, we report three case studies, which address complex single robot plans, coordination and collaboration.
引用
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页码：344 / 383
页数：40
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