scholarly journals Implementation of Distributed Control Architecture for Multiple Robot Systems Using Petri Nets

10.5772/50577 ◽  
2012 ◽  
Author(s):  
Genichi Yasuda
Keyword(s):  
Petri Nets ◽  
Distributed Control ◽  
Control Architecture ◽  
Robot Systems ◽  
Multiple Robot

A Decentralized Control Architecture to Achieve Synchronized Task Behaviors in Autonomous Cooperative Multi-Robot Systems

2019 ◽  
pp. 944-966
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Cooperative Control ◽  
Cooperative Behavior ◽  
Discrete Event ◽  
Control Architecture ◽  
Level Control ◽  
Robot Systems ◽  
Extended Petri Nets ◽  
Upper Level ◽  
Multiple Robot ◽  
And Control

This chapter describes a method for designing decentralized simulation and control architecture for multiple robot systems based on the discrete event net models. Extended Petri nets are adopted as an effective tool to describe, design, and control cooperative behavior of multiple robots based on asynchronous, concurrent processes. By hierarchical decomposition of the net model of the overall system, global and local Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for cooperative control is also proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of multiple robot systems.

A Decentralized Control Architecture to Achieve Synchronized Task Behaviors in Autonomous Cooperative Multi-Robot Systems

2018 ◽  
pp. 1-23
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Cooperative Control ◽  
Cooperative Behavior ◽  
Discrete Event ◽  
Control Architecture ◽  
Level Control ◽  
Robot Systems ◽  
Extended Petri Nets ◽  
Upper Level ◽  
Multiple Robot ◽  
And Control

This chapter describes a method for designing decentralized simulation and control architecture for multiple robot systems based on the discrete event net models. Extended Petri nets are adopted as an effective tool to describe, design, and control cooperative behavior of multiple robots based on asynchronous, concurrent processes. By hierarchical decomposition of the net model of the overall system, global and local Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for cooperative control is also proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of multiple robot systems.

Resilient Operation of an MMC with Communication Interruption in a Distributed Control Architecture

2021 ◽  
pp. 1-1
Author(s):  
Shunfeng Yang ◽  
Haiyu Chen ◽  
Pengfei Sun ◽  
Haiyu Wang ◽  
Frede GE Blaabjerg ◽  
...  
Keyword(s):  
Distributed Control ◽  
Control Architecture
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