Holonic communication structure with formal models of cooperative autonomous mobile robots

Author

Stambolov, Grigor ; Sperauskas, Tadas ; Simutis, Rimvydas ; Lipnickas, Arunas

Author_Institution

Tech. Univ. of Sofia, Sofia, Bulgaria

fYear

2009

fDate

21-23 Sept. 2009

Firstpage

505

Lastpage

510

Abstract

Recently many authors have been concerned with the problem of cooperation between autonomous mobile robots. In this paper, we present a communication structure which is a part of holonic communication structure in the team of cooperative autonomous mobile robots. To implement the proposed cooperation between autonomous mobile robots the developed UML sequence, collaboration diagrams, Petri Nets models for simulation of communication and cooperation structure are used. Results are implemented in real experimental environment, including two autonomous mobile robots - Koala and Khepera.

Keywords

Petri nets; Unified Modeling Language; groupware; intelligent robots; mobile robots; Khepera robot; Koala robot; Petri nets models; UML sequence; autonomous mobile robots; collaboration diagrams; cooperative robots; holonic communication structure; Communication system control; Conferences; Control systems; Intelligent robots; Mobile communication; Mobile robots; Object oriented modeling; Petri nets; Robotics and automation; Unified modeling language; Control strategy; Cooperative Autonomous Mobile Robots system (CAMRs); Holonic System; Petri Nets;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2009. IDAACS 2009. IEEE International Workshop on

Conference_Location

Rende

Print_ISBN

978-1-4244-4901-9

Electronic_ISBN

978-1-4244-4882-1

Type

conf

DOI

10.1109/IDAACS.2009.5342928

Filename

5342928