Title :
A constraint satisfaction approach for planning of multi-robot systems
Author :
Panescu, Dorin ; Pascal, Carlos
Author_Institution :
Dept. of Autom. Control & Appl. Inf. “, Tech. Univ. of Iasi, Iasi, Romania
Abstract :
This paper presents a research on multi-robot system planning based on a combination between a multiagent system and a constraint satisfaction problem approach. By using coloured Petri net models, specifically developed for a distributed constraint satisfaction algorithm, it was possible to make some simulation tests with a multi-robot system comprised of four robots involved in solving assembly goals. The analysis determined a mechanism to make the distributed planning phase more efficient by adapting the agents´ priorities.
Keywords :
Petri nets; adaptive control; constraint satisfaction problems; multi-robot systems; robotic assembly; agent priority adaptation; assembly goal; coloured Petri net model; constraint satisfaction problem approach; distributed constraint satisfaction algorithm; distributed planning; multiagent system; multirobot system planning; Assembly; Collision avoidance; Multi-robot systems; Planning; Robot kinematics; coloured Petri net; constraint satisfaction problem; distributed planning; multi-robot system; multiagent system;
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2014 18th International Conference
Conference_Location :
Sinaia
DOI :
10.1109/ICSTCC.2014.6982408
