Paper Info
Title
Deadlock prevention policy for S3PR — Application to robot planning
Abstract
This paper approaches the deadlock prevention problem for the well known class of S3PR used in Resource Allocation Systems. The proposed control policy is based on inhibitor arcs and the new Petri net class will be called S3PR2. The liveness characterization of this new class is given. The main application of the approach is to robot motion for a team of robots evolving in a partitioned environment with some limited capacity regions. In a previous work it is shown that the sets of trajectories for robots can be modeled by a particular S3PR and the deadlock-free execution has been solved using a centralized approach. Based on the results in this paper, we show that a decentralized control law for robots can be implemented.
Year
DOI
Venue
2014
10.1109/ETFA.2014.7005169
ETFA
Keywords
DocType
Citations 
robot team,resource allocation systems,Petri nets,Petri net class,centralized approach,S3PR,resource allocation,robot planning,limited capacity regions,path planning,trajectory control,deadlock-free execution,robot motion,decentralized control law,deadlock prevention policy
Conference
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Xu Wang120.71
Cristian Mahulea216119.50
Silva, M.331636.61