Accomplish multi-robot tasks via Petri net models
Accomplish multi-robot tasks via Petri net models
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DOI：
10.1109/coase.2015.7294096
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发表时间：
2015-10
期刊：
影响因子：
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通讯作者：
Marius Kloetzer;C. Mahulea
中科院分区：
文献类型：
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作者：
Marius Kloetzer;C. Mahulea
本文提出了一种方法，规划一个团队的移动的机器人，使他们完成一组任务。环境和移动的机器人的运动能力表示的Petri网模型。每个任务都位于一个给定的位置，它的完成需要一定数量的机器人出现在那个地方。服务任务的顺序和模型的激发计数向量来自于求解线性规划优化。的Petri网模型的结构特性，使我们能够开发一种算法，产生机器人的战略组成的运动，等待和任务服务。
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.