Journal ArticleDOI
A Petri-net coordination model for an intelligent mobile robot
Fei-Yue Wang,Kostas J. Kyriakopoulos,A. Tsolkas,George N. Saridis +3 more
- Vol. 21, Iss: 4, pp 777-789
Reads0
Chats0
TLDR
A Petri net model of the coordination level of an intelligent mobile robot system (IMRS) is presented to specify the integration of the individual efforts on path planning, supervisory motion control, and vision system that are necessary for the autonomous operation of a mobile robot in a structured dynamic environment.Abstract:
A Petri net model of the coordination level of an intelligent mobile robot system (IMRS) is presented. The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision system that are necessary for the autonomous operation of a mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can be used to simulate the task processing and evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the intelligent mobile robot system. Some simulation results of the task processing and learning are presented. >read more
Citations
More filters
Patent
Home cleaning robot
Eric Richard Bartsch,Charles W. Fischer,James F. Kirkpatrick,Gary Gordon Heaton,Thomas Charles Hortel,Arseni Valerevich Radomyselski,James R. Stigall +6 more
TL;DR: In this article, the present invention relates to autonomous, mobile home cleaning robots having low energy cleaning implements, and is directed to autonomous and microprocessor controlled home cleaning robot having useful functions.
Book
Automated Planning and Acting
TL;DR: This book presents a comprehensive paradigm of planning and acting using the most recent and advanced automated-planning techniques, and explains the computational deliberation capabilities that allow an actor to reason about its actions, choose them, organize them purposefully, and act deliberately to achieve an objective.
Journal ArticleDOI
An Iterative Synthesis Approach to Petri Net-Based Deadlock Prevention Policy for Flexible Manufacturing Systems
Murat Uzam,MengChu Zhou +1 more
TL;DR: The proposed iterative synthesis approach to Petri net (PN)-based deadlock prevention policy for flexible manufacturing systems (FMS) is generally applicable, easy to use, effective, and straightforward although its off-line computation is of exponential complexity.
Journal ArticleDOI
Deliberation for autonomous robots: A survey
Félix Ingrand,Malik Ghallab +1 more
TL;DR: A global overview of deliberation functions in robotics is presented and the main characteristics, design choices and constraints of these functions are discussed.
Journal ArticleDOI
Modeling and deadlock avoidance of automated manufacturing systems with multiple automated guided vehicles
Naiqi Wu,MengChu Zhou +1 more
TL;DR: A novel control policy for deadlock avoidance is proposed and is shown to be maximally permissive with computational complexity of O(n/sup 2/) where n is the number of machines in AMS if the complexity for controlling the part transportation by AGVs is not considered.
References
More filters
Book
A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
Journal ArticleDOI
Use of the Hough transformation to detect lines and curves in pictures
Richard O. Duda,Peter E. Hart +1 more
TL;DR: It is pointed out that the use of angle-radius rather than slope-intercept parameters simplifies the computation further, and how the method can be used for more general curve fitting.
Journal ArticleDOI
Generalizing the hough transform to detect arbitrary shapes
TL;DR: It is shown how the boundaries of an arbitrary non-analytic shape can be used to construct a mapping between image space and Hough transform space, which makes the generalized Houghtransform a kind of universal transform which can beused to find arbitrarily complex shapes.
Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.