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Formal Modeling and Analysis of Collaborative Humanoid Robotics

Formal Modeling and Analysis of Collaborative Humanoid Robotics

Yujian Fu, Zhijiang Dong, Xudong He
Copyright: © 2018 |Volume: 6 |Issue: 1 |Pages: 21
ISSN: 2166-7195|EISSN: 2166-7209|EISBN13: 9781522546771|DOI: 10.4018/IJRAT.2018010103
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MLA

Fu, Yujian, et al. "Formal Modeling and Analysis of Collaborative Humanoid Robotics." IJRAT vol.6, no.1 2018: pp.34-54. http://doi.org/10.4018/IJRAT.2018010103

APA

Fu, Y., Dong, Z., & He, X. (2018). Formal Modeling and Analysis of Collaborative Humanoid Robotics. International Journal of Robotics Applications and Technologies (IJRAT), 6(1), 34-54. http://doi.org/10.4018/IJRAT.2018010103

Chicago

Fu, Yujian, Zhijiang Dong, and Xudong He. "Formal Modeling and Analysis of Collaborative Humanoid Robotics," International Journal of Robotics Applications and Technologies (IJRAT) 6, no.1: 34-54. http://doi.org/10.4018/IJRAT.2018010103

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Abstract

A humanoid robot is inherently complex due to the heterogeneity of accessory devices and to the interactions of various interfaces, which will be exponentially increased in multiple robotics collaboration. Therefore, the design and implementation of multiple humanoid robotics (MHRs) remains a very challenging issue. It is known that formal methods provide a rigorous analysis of the complexity in both design of control and implementation of systems. This article presents an agent-based framework of formal modeling on the design of communication and control strategies of a team of autonomous robotics, to attain the specified tasks in a coordinated manner. To ensure a successful collaboration of multiple robotics, this formal agent-based framework captures behaviors in Petri Net models and specifies collaboration operations in four defined operations. To validate the framework, a non-trivial soccer bot set was implemented and simulation results were discussed.

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