Robot task plan representation by Petri nets: modelling, identification, analysis and execution

Costelha, Hugo; Lima, Pedro

http://hdl.handle.net/10400.8/14669

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Authors

Costelha, Hugo

Lima, Pedro

Abstract(s)

In this paper we introduce a framework to represent robot task plans based on Petri nets. Our approach enables modelling a robot task, analysing its qualitative and quantitative properties and using the Petri net representation for actual plan execution. The overall model is obtained from the composition of simple models, leading to a modular approach. Analysis is applied to a closed loop between the robot controller and the environment Petri net models. We focus here on the quantitative properties, captured by stochastic Petri net models. Furthermore, we introduce a method to identify the environment and action layer parameters of the stochastic Petri net models from real data, improving the significance of the model. The framework building blocks and a single-robot task model are detailed. Results of a case study with simulated soccer robots show the ability of the framework to provide a systematic modelling tool, and of determining, through wellknown analysis methods for stochastic Petri nets, relevant properties of the task plan applied to a particular environment.

Keywords

Analysis Execution Identification Modelling Petri nets Robot tasks

URI

http://hdl.handle.net/10400.8/14669

Citation

Costelha, H., Lima, P. Robot task plan representation by Petri nets: modelling, identification, analysis and execution. Auton Robot 33, 337–360 (2012). https://doi.org/10.1007/s10514-012-9288-x