Paper Info
Title
Accomplish multi-robot tasks via Petri net models
Abstract
This paper proposes a method for planning a team of mobile robots such that they accomplish a set of tasks. The environment and the movement capabilities of mobile robots are represented by a Petri net model. Each task is located in a given location and its accomplishment requires a certain number of robots to be present in that place. The order for serving the tasks and firing count vectors for the model result from solving an Integer Linear Programming optimization. Structural properties of the Petri net model allow us to develop an algorithm that produces robot strategies composed from movements, waiting and task serving.
Year
DOI
Venue
2015
10.1109/CoASE.2015.7294096
2015 IEEE International Conference on Automation Science and Engineering (CASE)
Keywords
Field
DocType
multirobot tasks,Petri net models,mobile robot team planning,movement capability,firing count vector,integer linear programming optimization,structural properties,robot strategy,robot movement,waiting,task serving
Petri net,Computer science,Integer programming,Artificial intelligence,Robot,Mobile robot
Conference
ISSN
Citations 
PageRank 
2161-8070
0
0.34
References 
Authors
13
2
Name
Order
Citations
PageRank
Marius Kloetzer147629.21
Cristian Mahulea216119.50