Title :
Petri net based design of a multi-robot scenario - a case study
Author :
Rust, Carsten ; Grünewald, Matthias
Author_Institution :
Paderborn Univ., Germany
Abstract :
In the paper, we describe the realization of an application scenario with Khepera minirobots. The scenario is a decentralized intersection management, where several Kheperas move trough two intersecting lanes without collisions. The application is realized based on a Petri net based methodology for the seamless design of distributed embedded real-time systems. Hence, the presented work brings together results from two different research areas: robotic applications and embedded system´s design.
Keywords :
Petri nets; control system synthesis; distributed control; embedded systems; microrobots; multi-robot systems; Khepera minirobots; Petri net; decentralized intersection management; distributed embedded real-time system; multi-robot scenario; Circuit testing; Computer aided software engineering; Design methodology; Embedded system; Landmine detection; Mobile robots; Petri nets; Printed circuits; Remotely operated vehicles; System testing;
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Print_ISBN :
0-7803-8566-7
DOI :
10.1109/ICSMC.2004.1401054
