哈尔滨工业大学学报（英文版）2004，Vol.11Issue(6)：618-623,6.
Discrete-event modeling for internet multi-robotics
Discrete-event modeling for internet multi-robotics
摘要
Abstract
Intemet 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 modelKey words
Internet/multi-operator/multi-robot/Petri nets/discrete-event model分类
信息技术与安全科学引用本文复制引用
赵杰,高胜,蔡鹤皋..Discrete-event modeling for internet multi-robotics[J].哈尔滨工业大学学报（英文版）,2004,11(6):618-623,6.基金项目
Suported by the Natural High Technology Research and Development Program of China( Grant No. 2001 AA422250). （ Grant No. 2001 AA422250）
