Modelling, analysis and execution of robotic tasks using petri nets

Costelha, Hugo; Lima, Pedro U.

doi:10.1109/iros.2007.4399365

Cited by 46 publications

(32 citation statements)

References 6 publications

(8 reference statements)

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“…The Petri-net-based controller is, however, executed from a central computer, which communicates with the robots. Petri-nets for multi-robot control have been analysed to detect properties such as boundedness, livelocks, and deadlocks (Costelha and Lima 2008).…”

Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

Supervisory control theory applied to swarm robotics

et al. 2016

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Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system's control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots Intell (2016) 10:65-97 are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics.

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Section: Formal Methods In Swarm Roboticsmentioning

confidence: 99%

Supervisory control theory applied to swarm robotics

et al. 2016

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“…[5] Many other researchers have derived sequences of motion primitives by using geometric constraints [19][20][21] and Petri nets. [22,23] We explained the derivation of skill primitives by decomposing manipulation tasks. On the other hand, when the task which should be performed was designated, it's almost possible to compose a task by connecting skill primitives.…”

Section: Composition Of Skill Sequencementioning

confidence: 99%

Using simplified geometric models in skill-based manipulation for objects used in daily life

Nakamura

Nagata

Harada

et al. 2017

AIR

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Recently many types of robots have been playing an active part in various fields. The operation of these robots' manipulators is an important subject of research. The tasks of manipulation can be regarded as sequences of several motion primitives called "skills". Skills also have ability to compensate for errors both in modeling and in execution. Data may occur in the elements of the shapes, positions and orientations of objects that can be dispensed with to make geometric models simpler. In order to achieve tasks with high reliability, this paper proposes simplified geometric models based on skill techniques not only for industrial products but also for objects used in the daily life of humans. As examples of simplified geometric models of objects used in daily life, simplified models in a transfer task of plastic bottles and in a transfer task of a cup are explained.

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“…The set of propositional symbols associated with a PN system model is Π = E ∪ D. We assume that all our PN system models are propositionally consistent, i.e., for all M ∈ R(G) and d ∈ D, M(µ(¬d)) + M(µ(d)) = 1. Propositionally consistent PN system models always have, for each d, one token in one of the places representing a truth value for d and zero 2 Hence, each p ∈ P D corresponds to exactly one literal l ∈ lit(D), thus |P D | = 2|D|, where |.| denotes the number of elements of the set. tokens in the other.…”

Section: B Petri Net Model Of a Robotic Taskmentioning

confidence: 99%

“…Due to its suitability to model concurrent systems and the wide range on analysis methods available, PNs have been used for the modelling and execution of (multi-)robot tasks [14,2]. There has also been a considerable amount of work on the control of PNs.…”

Section: Introductionmentioning

confidence: 99%

Designing Petri Net Supervisors from LTL Specifications

Lacerda

Lima

2011

Robotics: Science and Systems VII

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Abstract-We present a methodology to build a Petri net realization of a supervisor that, given a Petri net model of a (multi-)robot system and a linear temporal logic (LTL) specification, forces the system to fulfil the specification. The methodology includes composing the Petri net model with the Büchi automaton representing the LTL formula and trimming the result using a known method to reduce the size of the supervisor. Furthermore, we guarantee that the obtained supervisors are admissible by construction by restricting the LTL formulas that can be written to an appropriate subset. To illustrate the method, we provide an example on how to specify coordination rules for a team of simulated soccer robots.

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Modelling, analysis and execution of robotic tasks using petri nets

Cited by 46 publications

References 6 publications

Supervisory control theory applied to swarm robotics

Supervisory control theory applied to swarm robotics

Using simplified geometric models in skill-based manipulation for objects used in daily life

Designing Petri Net Supervisors from LTL Specifications

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