A Novel Modeling Method for Cooperative Multi-robot Systems Using Fuzzy Timed Agent Based Petri Nets

Authors:
Hua Xu;Peifa Jia
Affiliations:
State Key Lab of Intelligent Technology and Systems, Tsinghua University, Beijing, 100084, P.R. China;State Key Lab of Intelligent Technology and Systems, Tsinghua University, Beijing, 100084, P.R. China and Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, P.R. ...
Venue:
ICCS '07 Proceedings of the 7th international conference on Computational Science, Part II
Year:
2007

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Abstract

This paper proposes a cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN), which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The proposed FTAPN can be used to model and illustrate both the structural and dynamic aspects of CMRS. Supervised learning is supported in FTAPN. As a special type of high-level object, agent is introduced, which is used as a common modeling object in FTAPN models. The proposed FTAPN can not only be used to model CMRS and represent system aging effect, but also be refined into the object-oriented implementation easily. At the same time, it can also be regarded as a conceptual and practical artificial intelligence (AI) tool for multi-agent system (MAS) into the mainstream practice of software development.