A formalism for the composition of concurrent robot behaviors

Author

Klavins, Eric ; Koditschek, Daniel E.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA

Volume

4

fYear

2000

fDate

2000

Firstpage

3395

Abstract

We introduce tools which help one to compose concurrent, hybrid control programs for a class of distributed robotic systems, assuming a palette of controllers for individual tasks is already constructed. These tools, which combine the backchaining of continuous robot behaviors with Petri nets, expand on successful work in sequential composition of robot behaviors. We apply these ideas to the design and verification of a robotic bucket brigade and to simple, distributed assembly tasks as found in automated factories

Keywords

Petri nets; assembling; concurrent engineering; distributed control; factory automation; industrial robots; robot programming; Petri nets; assembly; backchaining; concurrency; distributed robotic systems; factory automation; industrial robots; robot behaviors; robot programming; robotic bucket brigade; Assembly systems; Computer aided manufacturing; Control systems; Costs; Logic programming; Petri nets; Robot kinematics; Robot programming; Robotic assembly; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.845244

Filename

845244