Discrete Event Systems Based Robotic Task Modeling: Difference between revisions
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=== References === | === References === | ||
[1] [ http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=725407&isnumber=15656 P. Lima, H. Grácio, V. Veiga, A. Karlsson, "Petri Nets for Modeling and Coordination of Robotic Tasks", Proc. of IEEE International Conference on Systems, Man, and Cybernetics, San Diego, USA, 1998 ] | [1] [http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=725407&isnumber=15656 P. Lima, H. Grácio, V. Veiga, A. Karlsson, "Petri Nets for Modeling and Coordination of Robotic Tasks", Proc. of IEEE International Conference on Systems, Man, and Cybernetics, San Diego, USA, 1998 ] | ||
Revision as of 19:01, 19 November 2008
Most of the existing robotic task models are not based on formal approaches, are concerned only with a small number of behaviors and are typically tailored to the task at hand. We have proposed, back to 1999 [1] a systems-theory-based task modeling approach for general robotic tasks which enables a systematic approach to modeling, analysis and design, scaling up to realistic applications, providing methods for logical verification, stochastic performance, and design from specifications. Our approach is based on using discrete event systems (DES) models, mainly Petri nets and finite state automata, for robot plans representation. This particular representation enables using all the available DES analysis and design tools to handle robotic task formal analysis and design.
Representing robot plans by DES
A plan is composed of several actions, running concurrently or sequentially. Action sequences, loops, subplans running in separate robots from a team, are possible examples of plans under the above definition.
In our rob