A Petri net based control architecture for a multi-robot system

An effort is made to show how Petri nets can be applied to control an advanced multirobot system. The action plan for the robot system, i.e. the description of the task the robot has to perform, is obtained by using a special class of condition/event Petri nets. With the aid of a distributed multiprocessor system, the robot system is able to execute net actions in parallel if necessary. The use of the programming language Prolog for both the specification and the interpretation of the Petri net supports rapid prototyping and offers a powerful framework for integrating rule-based diagnosis and error recovery components into the robot control system.<<ETX>>

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