Discrete-event modeling for internet multi-robotics

作者：Zhao Jie^*; Gao Sheng; Cai He Gao

来源：Journal of Harbin Institute of Technology, 2004, 11(6): 618-623.

• Control mode setting
• Corresponding control marks
• Discrete event model
• Mission splitting
• Multi robot
• Multiple operator
• Precedence graph
• Robot dominated framework

Internet multi-robotics is a typical discrete-event system. In order to describe joint activities between multiple operators and multiple robots, a 4-level discrete-event model is proposed in this paper based on the controlled condition/event Petri nets (CCEP). On the first or mission level, the task splitting of the system is defined; on the second or multi-operator level, a precedence graph is introduced for every operator to plan his or her robotic actions; on the third or coordination level, the above precedence graphs are translated and integrated into the corresponding CCEPs in terms of specific rules; and on the last or multi-robot level, operators can select their control range by setting the corresponding control marks of the obtained CCEPs. As a consequence, a clear mechanism of operator-robot collaboration is obtained to conduct the development of the system.

• 出版日期2004