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A Petri Net Based Control Architecture for a Multi-Robot System.

Hormann, A.

In: Proceedings of the IEEE International Symposium on Intelligent Control, 1989, Albany, NY, USA, pages 493-498. Washington, DC, USA: IEEE Comput. Soc. Press, 1989.

Abstract: An effort is made to show how Petri nets can be applied to control an advanced multirobot system. The action plan for the robot system is obtained by using a special class of condition/event nets. With the aid of a distributed multiprocessor system, the robot system is able to execute net actions in parallel. The use of the programming language Prolog for both the specification and the interpretation of the net supports rapid prototyping and offers a powerful framework for integrating rule-based diagnosis and error recovery components into the robot control system.

Keywords: multi-robot system; condition/event net; multiprocessor system; Prolog; prototyping; rule-based diagnosis; error recovery.

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