Petri Nets (PN) have recently emerged as a promising approach for mod- eling either single-robot or multi-robot plans. This approach provides a clear graphical representation for modeling and developing systems which are concur- rent, distributed, asynchronous, non-deterministic and/or stochastic. One of the issues of the approaches that uses Petri Nets is the space complexity associated to the specification of the plans, which can become very large (i.e., with many graphical elements), especially in the case of multi-robot systems. In this work, we analyse the use of Coloured Petri Net (CPN) for the creation and validation of multi-robot systems. More specifically, we describe a formalism for representing multi-robot plan by using CPN and an algorithm to translate the CPN plan in a Petri Net Plan (PNP).
Coloured Petri Net Plans for cooperative multi-robot systems
Farinelli, Alessandro;
2017-01-01
Abstract
Petri Nets (PN) have recently emerged as a promising approach for mod- eling either single-robot or multi-robot plans. This approach provides a clear graphical representation for modeling and developing systems which are concur- rent, distributed, asynchronous, non-deterministic and/or stochastic. One of the issues of the approaches that uses Petri Nets is the space complexity associated to the specification of the plans, which can become very large (i.e., with many graphical elements), especially in the case of multi-robot systems. In this work, we analyse the use of Coloured Petri Net (CPN) for the creation and validation of multi-robot systems. More specifically, we describe a formalism for representing multi-robot plan by using CPN and an algorithm to translate the CPN plan in a Petri Net Plan (PNP).I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.