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

fYear

2014

fDate

17-19 Oct. 2014

Firstpage

157

Lastpage

162

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;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, Control and Computing (ICSTCC), 2014 18th International Conference

Conference_Location

Sinaia

Type

conf

DOI

10.1109/ICSTCC.2014.6982408

Filename

6982408