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Cover of Petri Net Controllers for Distributed Robotic Systems

Petri Net Controllers for Distributed Robotic Systems

(Paperback)

National Aeronautics and Space Adm Nasa,

Independently Published (Publisher)

Published
2018
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0
Technology, Engineering, Agriculture, Industrial processesOther technologies and applied sciencesSpace science

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Petri nets are a well established modelling technique for analyzing parallel systems. When coupled with an event-driven operating system, Petri nets can provide an effective means for integrating and controlling the functions of distributed robotic applications. Recent work has shown that Petri net graphs can also serve as remarkably intuitive operator interfaces. In this paper, the advantages of using Petri nets as high-level controllers to coordinate robotic functions are outlined, the considerations for designing Petri net controllers are discussed, and simple Petri net structures for implementing an interface for operator supervision are presented. A detailed example is presented which illustrates these concepts for a sensor-based assembly application. Lefebvre, D. R. and Saridis, George N. NASA-CR-193196, NAS 1.26:193196, RPI-CIRSSE-126 NAGW-1333...

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