2019/06/27 by Maksym Figat, Figat, Maksym, Cezary Zieliński +1 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Multiagent Systems (cs.MA) #Petri Nets in System Modeling #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1906.11614
openalex publication_date 2019/06/27 · openalex created_date 2022/07/13 · openalex updated_date 2026/07/28
A robot system is designed as a set of embodied agents. An embodied agent is\ndecomposed into cooperating subsystems. In our previous work activities of\nsubsystems were defined by hierarchical finite state machines. With their\nstates, activities were associated. In that approach communication between\nsubsystems was treated as an implementation issue. This paper represents the\nactivities of a robot system using hierarchical Petri nets with conditions.\nSuch net is created by specifying consecutive layers: multi-agent robot system\nlayer, agent layer, subsystem layer, behaviour layer and communication layer.\nThis decomposition not only organizes in a systematic manner the development of\na robot system but also introduces a comprehensive description of concurrently\nacting subsystems. Based on those theoretical considerations, a tool was\ncreated for producing hierarchical Petri nets defining the model of a robotic\nsystem and enabling automatic generation of the robot controller code,\nresulting in a significant acceleration of the implementation phase. The\ncapabilities of the tool are presented by the development of a robot controller\nperforming a rudimentary task.\n