Paper Info
Title
Petri Net Plans - A framework for collaboration and coordination in multi-robot systems.
Abstract
Programming the behavior of multi-robot systems is a challenging task which has a key role in developing effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a language based on Petri Nets (PNs), which allows for intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and support a rich set of features that are critical to develop robotic applications, including sensing, interrupts and concurrency. As a central feature, PNPs allow for a formal analysis of plans based on standard PN tools. Moreover, PNPs are suitable for modeling multi-robot systems and the developed behaviors can be executed in a distributed setting, while preserving the properties of the modeled system. PNPs have been deployed in several robotic platforms in different application domains. In this paper, we report three case studies, which address complex single robot plans, coordination and collaboration.
Year
DOI
Venue
2011
10.1007/s10458-010-9146-1
AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS
Keywords
DocType
Volume
Petri Nets,Multi-robot systems,Formal models,Plan representation and execution
Journal
23
Issue
ISSN
Citations 
3
1387-2532
9
PageRank 
References 
Authors
0.63
33
5
Name
Order
Citations
PageRank
Vittorio A. Ziparo1523.93
Luca Iocchi21110111.38
Pedro U. Lima351669.88
Daniele Nardi45968545.67
Pier Francesco Palamara5262.82