The coordination of intelligent robots: a case study

A case study of modeling the coordination level of an intelligent robotic system by the coordination theory of intelligent machines is presented. The coordination structure designed for the coordination level of the system consists of a dispatcher, a vision coordinator, a sensor coordinator, a path planning coordinator, an arm coordinator, and a gripper coordinator. Petri net transducers for the dispatcher and the coordinators are described. The coordination structure is constructed by integrating the dispatcher and coordinators through the specification of their connection and cooperation procedures. Task simulation based on the coordination structure is conducted with various task plans for the system to investigate and evaluate the coordination processing in the system during task execution