Collaborative Robotic System Obtained by Combining Planning and Holonic Architecture

Abstract

This contribution discusses some important issues of the Holonic Manufacturing Systems. The respective approach can bring about some features requested by the present conditions in manufacturing. An appropriate planning mechanism is designed, together with the execution cycle of the agents used as the holons' deliberative part. The proposed planning and coordination mechanism is implemented in an agent specific environment. The implementation details clarifies the way the proposed solution is to be carried out, conducting to a collaborative robotic system as the main part of an experimental manufacturing system.

Modeling a holonic agent based solution by Petri nets

“…The holon that made the respective offer receives a contract from the manager holonic agent, to put into practice the solution it proposed. The common multi-agent CNP has to be adapted and enhanced for a holonic use, in order to obtain a reliable and near to optimum HMES operation [21]. Moreover, a further tuning is needed when the inference mechanism of agents is based on the Belief Desire Intention (BDI) architecture [22,23].…”