A constraint satisfaction approach for planning of multi-robot systems

This paper presents a research on multi-robot system planning based on a combination between a multiagent system and a constraint satisfaction problem approach. By using coloured Petri net models, specifically developed for a distributed constraint satisfaction algorithm, it was possible to make some simulation tests with a multi-robot system comprised of four robots involved in solving assembly goals. The analysis determined a mechanism to make the distributed planning phase more efficient by adapting the agents' priorities.

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