The aim of this paper is to describe a novel representation framework for high level robot and multi-robot programming, called Petri Net Plans (PNP), that allows for representing all the action features that are needed for describing complex plans in dynamic environments. We provide a sound and complete execution algorithm for PNPs based on the semantics of Petri nets. Moreover, we show that multi-robot PNPs allow for a sound and complete distributed execution algorithm, given that a reliable communication channel is provided. PNPs have been used for describing effective plans for actual robotic agents which inhabit dynamic, partially observable and unpredictable environments, and experimented in different application scenarios. Copyright © 2008, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
Petri net plans: a formal model for representation and execution of multi-robot plans / Ziparo, VITTORIO AMOS; Iocchi, Luca; Nardi, Daniele; P. F., Palamara; H., Costelha. - 1:(2008), pp. 79-86. (Intervento presentato al convegno 7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008 tenutosi a Estoril; Portugal nel May 2008).
Petri net plans: a formal model for representation and execution of multi-robot plans
ZIPARO, VITTORIO AMOS;IOCCHI, Luca;NARDI, Daniele;
2008
Abstract
The aim of this paper is to describe a novel representation framework for high level robot and multi-robot programming, called Petri Net Plans (PNP), that allows for representing all the action features that are needed for describing complex plans in dynamic environments. We provide a sound and complete execution algorithm for PNPs based on the semantics of Petri nets. Moreover, we show that multi-robot PNPs allow for a sound and complete distributed execution algorithm, given that a reliable communication channel is provided. PNPs have been used for describing effective plans for actual robotic agents which inhabit dynamic, partially observable and unpredictable environments, and experimented in different application scenarios. Copyright © 2008, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.| File | Dimensione | Formato | |
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