Object oriented petri-nets based model for the cooperation of autonomous mobile minirobots

摘要

This paper deals with a model of cooperative mobile minirobotics. This model combines the "object" concept with the Petri-Nets tool. These two principles have complementary descriptive powers. The OOPN (Object Oriented Petri-Net) controls the dynamic interaction of an objects set that models the system and the marking of the net is object-oriented. Such model helps to determine the control strategies that don't lead to system deadlocks. An illustrative example of cooperative scenario is given. It is inspired from ethology which studies behaviours and interactions in insects socienties.