Obtaining synergetic behavior by exploiting relations in distributed robot plans

A new approach for obtaining synergetic behavior in distributed robotics embedded in flexible production environments is presented. Using timed Petri net (TPN) descriptions for the individual robot production plans, after an initial stage of mutual communication, positive and negative relations between the individual tasks are established. Operators associated with these relations are then used, in a distributed way, to modify the individual plans (TPNs) so that cooperative behavior is achieved by resolving conflicts and by maximizing the use of production resources after eliminating redundant activities