Performance modeling of automated manufacturing systems
Performance modeling of automated manufacturing systems
Introduction to Discrete Event Systems
Introduction to Discrete Event Systems
Using Petri nets to specify and execute missions for autonomous underwater vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A framework for facilitating cooperation in multi-agent systems
The Journal of Supercomputing
A colored petri net model to represent the interactions between a set of cooperative agents
AP2PC'08 Proceedings of the 7th international conference on Agents and Peer-to-Peer Computing
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This paper introduces Petri net (PN) based models of cooperative robotic tasks, namely those involving the coordination of two or more robots, thus requiring the exchange of synchronisation messages, either using explicit (e.g., wireless) or implicit (e.g., vision-based observation of teammates) communication. In the models, PN places represent primitive actions, subtasks and predicates set by sensor readings and communicated messages. Events are associated to PN transitions. The PN models can be used for task planning, plan execution and plan analysis. Different PN views enable the analysis of different properties. In this work we focus on plan analysis, namely on properties such as boundedness and liveness, corresponding to checking if resources usage is stable and plans have no deadlocks, as well as on stochastic performance, concerning the plan success probability. One novel feature of our work is that the analysis consists of composing several small action PN models with environment PN models, leading to a closed loop robot team/environment analysis methodology. Examples of application to simulated robotic soccer scenarios are presented.