Deadlock analysis and control using Petri net decomposition techniques

A humanoid robot is inherently complex due to the heterogeneity of accessory devices and to the interactions of various interfaces, which will be exponentially increased in multiple robotics collaboration. Therefore, the design and implementation of multiple humanoid robotics (MHRs) remains a very challenging issue. It is known that formal methods provide a rigorous analysis of the complexity in both design of control and implementation of systems. This article presents an agent-based framework of formal modeling on the design of communication and control strategies of a team of autonomous robotics, to attain the specified tasks in a coordinated manner. To ensure a successful collaboration of multiple robotics, this formal agent-based framework captures behaviors in Petri Net models and specifies collaboration operations in four defined operations. To validate the framework, a non-trivial soccer bot set was implemented and simulation results were discussed.

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Petri Net Model Based Design and Control of Robotic Manufacturing Cells

Industrial Engineering ◽

10.4018/978-1-4666-1945-6.ch023 ◽

2012 ◽

pp. 393-408

Author(s):

Gen’ichi Yasuda

Keyword(s):

Petri Nets ◽

Petri Net ◽

Manufacturing Systems ◽

Discrete Event ◽

Manufacturing Cells ◽

Modeling And Control ◽

Complex Manufacturing Systems ◽

Task Specification ◽

And Control ◽

The Coordinator

The methods of modeling and control of discrete event robotic manufacturing cells using Petri nets are considered, and a methodology of decomposition and coordination is presented for hierarchical and distributed control. Based on task specification, a conceptual Petri net model is transformed into the detailed Petri net model, and then decomposed into constituent local Petri net based controller tasks. The local controllers are coordinated by the coordinator through communication between the coordinator and the controllers. Simulation and implementation of the control system for a robotic workcell are described. By the proposed method, modeling, simulation, and control of large and complex manufacturing systems can be performed consistently using Petri nets.

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Petri Net Model Based Design and Control of Robotic Manufacturing Cells

Operations Management Research and Cellular Manufacturing Systems - Advances in Logistics, Operations, and Management Science ◽

10.4018/978-1-61350-047-7.ch018 ◽

2013 ◽

pp. 385-400 ◽

Cited By ~ 2

Author(s):

Gen’ichi Yasuda

Keyword(s):

Petri Nets ◽

Petri Net ◽

Manufacturing Systems ◽

Discrete Event ◽

Manufacturing Cells ◽

Modeling And Control ◽

Complex Manufacturing Systems ◽

Task Specification ◽

And Control ◽

The Coordinator

The methods of modeling and control of discrete event robotic manufacturing cells using Petri nets are considered, and a methodology of decomposition and coordination is presented for hierarchical and distributed control. Based on task specification, a conceptual Petri net model is transformed into the detailed Petri net model, and then decomposed into constituent local Petri net based controller tasks. The local controllers are coordinated by the coordinator through communication between the coordinator and the controllers. Simulation and implementation of the control system for a robotic workcell are described. By the proposed method, modeling, simulation, and control of large and complex manufacturing systems can be performed consistently using Petri nets.

Download Full-text