Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Development of the multi-functional indoor service robot PSR systems
Autonomous Robots
Development environments for autonomous mobile robots: A survey
Autonomous Robots
A global motion planner that learns from experience for autonomous mobile robots
Robotics and Computer-Integrated Manufacturing
PIPE2: a tool for the performance evaluation of generalised stochastic Petri Nets
ACM SIGMETRICS Performance Evaluation Review
A mobius automation: an application of artificial intelligence techniques
IJCAI'69 Proceedings of the 1st international joint conference on Artificial intelligence
Woflan 2.0: a Petri-net-based workflow diagnosis tool
ICATPN'00 Proceedings of the 21st international conference on Application and theory of petri nets
An investigation into reactive planning in complex domains
AAAI'87 Proceedings of the sixth National conference on Artificial intelligence - Volume 1
Coordinated execution of tasks in a multiagent environment
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Robotics and Autonomous Systems
WatchBot: A building maintenance and surveillance system based on autonomous robots
Robotics and Autonomous Systems
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The complexity of robot software systems calls for the use of a well-conceived architecture together with programming tools to support it. One common feature of robot architectures is the modular decomposition of systems into simpler and largely independent components. These components implement primitive actions and report events about their state. The robot programming framework proposed here includes a tool (RoboGraph) to program and coordinate the activity (tasks) of these middleware modules. Project developers use the same task programming IDE (RoboGraph) on two different levels. The first is to program tasks that must be executed autonomously by one robot and the second is to program tasks that can include several robots and building elements. Tasks are described using a Signal Interpreted Petri Net (SIPN) editor and stored in an xml file. A dispatcher loads these files and executes the different Petri nets as needed. A monitor that shows the state of all the running nets is very useful for debugging and tracing purposes. The whole system has been used in several applications: A tour-guide robot (GuideBot), a multi-robot surveillance project (WatchBot) and a hospital food and laundry transportation system based on mobile robots.