A three-level net formalism for the modelling of multiple mobile robot systems

Author

López-Mellado, Ernesto ; Almeyda-Canepa, Hugo

Author_Institution

CINVESTAV-IPN, Mexico City, Mexico

Volume

3

fYear

2003

fDate

5-8 Oct. 2003

Firstpage

2733

Abstract

This paper deals with the qualitative modelling of multiple mobile robot systems. The approach held is Petri net based: a definition of a three level scheme of Petri nets in which the tokens can be Petri nets is presented. The upper level describes the robots environment, the next level models the general behaviour of the mobile robots, and the third level represents specific features of each robot namely mission, tasks, and roadmaps; at this level it is also described resources and robot interaction protocols. The modelling formalism is illustrated through a case study regarding a mobile robot community evolving into a structured environment.

Keywords

Petri nets; automatic guided vehicles; mobile robots; multi-robot systems; AGV; Petri net; automatic guided vehicles; multiple mobile robot systems; roadmaps; robot interaction protocols; three level net formalism; tokens; Application software; Computer languages; Data structures; Mathematical model; Mobile robots; Object oriented modeling; Object oriented programming; Petri nets; Robot kinematics; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2003. IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-7952-7

Type

conf

DOI

10.1109/ICSMC.2003.1244298

Filename

1244298