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

被引：0
|
作者：
López-Mellado, E [1 ]
Almeyda-Canepa, H [1 ]
机构：
[1] IPN, CINVESTAV, Unidad Guadaljara, Guadalajara 45090, Jalisco, Mexico
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, CONFERENCE PROCEEDINGS | 2003年
关键词：
mobile robot coordination; multi-level modelling; Petri nets with dynamic tokens; agent-based software specification;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2733 / 2738
页数：6
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