In: Goebel, R.: Proceedings of the Seventh Biennial Conference of the Canadian Society for Computational Studies of Intelligence, pages 221-226. Univ. Alberta Press, Toronto, Ont., Canada, 1988.
Abstract: In applications requiring the mutually exclusive use of scarce resources by multiple agents, one major problem is that actions by one agent may make it impossible for other agents to fulfill their goals; in a correct plan either such potential interference must be eliminated. The author introduces a technique of both representing and automatically synthesizing such high-level multi-robot plans through the use of a new subclass of Petri nets, called generalized condition event (GC/E) nets.
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