|InterJournal Complex Systems, 1332
|Manuscript Number: |
Submission Date: 2004
|Modeling, Analysis and Design for Multi-robot Exploration Based on Petri Nets|
The use of multiple autonomous robots can significantly reduce the time to finish a given mission. In this paper, a totally distributed coordination algorithm is developed to provide robustness to multirobot missions, in the context of the exploration of unknown environment. The analysis and design of the coordination algorithm require formal modeling methodologies. We propose a stochastic Petri net (SPN) based method to analyze and design efficient distributed coordination algorithms. By running the Petri net model, optimized parameters are obtained to improve the efficiency of the multirobot team. Experimental results have validated the proposed method.
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