Discrete-event modeling for internet multi-robotics  

作　　者：赵杰 高胜 蔡鹤皋 

机构地区：[1]Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China

出　　处：《Journal of Harbin Institute of Technology(New Series)》2004年第6期618-623,共6页哈尔滨工业大学学报（英文版）

基　　金：SupportedbytheNaturalHighTechnologyResearchandDevelopmentProgramofChina(GrantNo .2 0 0 1AA42 2 2 5 0 ) .

摘　　要：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.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.

关 键 词：INTERNET multi-operator MULTI-ROBOT Petri nets discrete-event model 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]