Deadlock prevention policy for S3PR — Application to robot planning

This paper approaches the deadlock prevention problem for the well known class of S³PR used in Resource Allocation Systems. The proposed control policy is based on inhibitor arcs and the new Petri net class will be called S³PR². The liveness characterization of this new class is given. The main application of the approach is to robot motion for a team of robots evolving in a partitioned environment with some limited capacity regions. In a previous work it is shown that the sets of trajectories for robots can be modeled by a particular S³PR and the deadlock-free execution has been solved using a centralized approach. Based on the results in this paper, we show that a decentralized control law for robots can be implemented.