Abstract
The paper presents a systematic methodology for modeling multi-robot production tasks based on extended Petri nets. To overcome some difficulties in the modeling of complex discrete event systems with a large number of elements in basic Petri nets, extended high-level Petri nets are introduced based on condition-event Petri nets. The high-level net representation of the conceptual task flows and detailed control functions with a top-down refinement methodology can provide more synthetic specifications for consistent management and distributed coordination of multi-robot systems.
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Yasuda, G. (2013). Distributed Coordination of Multiple Robot Systems Based on Hierarchical Petri Net Models. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_60
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DOI: https://doi.org/10.1007/978-3-642-40849-6_60
Publisher Name: Springer, Berlin, Heidelberg
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