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Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets

机译:利用分层Petri网设计多智能体机器人控制系统的方法论

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A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states activities were associated. In that approach communication between subsystems was treated as an implementation issue. This paper represents activities of a robot system using hierarchical Petri nets with conditions. Such net is created by specifying consecutive layers: multi-agent robot system layer, agent layer, subsystem layer, behaviour layer and communication layer. This decomposition not only organizes in a systematic manner the development of a robot system, but also introduces a comprehensive description of concurrently acting subsystems. Based on those theoretical considerations, a tool was created for producing hierarchical Petri nets defining the model of a robotic system and enabling automatic generation of the robot controller code, resulting in a significant acceleration of the implementation phase. The capabilities of the tool are presented by the development of a robot controller performing a rudimentary task.
机译:机器人系统被设计为一组具体的代理。具体化的代理程序分解为协作子系统。在我们以前的工作中,子系统的活动是由分层有限状态机定义的。活动与他们的国家相关。在这种方法中,子系统之间的通信被视为实现问题。本文介绍了使用条件的层次化Petri网的机器人系统的活动。这种网络是通过指定连续的层来创建的:多代理机器人系统层,代理层,子系统层,行为层和通信层。这种分解不仅以系统的方式组织了机器人系统的开发,而且还引入了对同时作用的子系统的全面描述。基于这些理论考虑,创建了一种工具,用于生成定义机器人系统模型的分层Petri网,并能够自动生成机器人控制器代码,从而大大加快了实施阶段。该工具的功能通过执行基本任务的机器人控制器的开发来展现。

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