A petri net on-line controller for the coordination of multiple mobile robots
Thesis (M.Eng.)--Memorial University of Newfoundland, 2000. Engineering and Applied Science Bibliography: leaves 74-79. In applications such as mining, space exploration, and toxic waste cleanup, mobile robots are often required to move within a common environment and to share resources. This introd...
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ftmemorialunivdc:oai:collections.mun.ca:theses3/148554 2023-05-15T17:23:32+02:00 A petri net on-line controller for the coordination of multiple mobile robots Hwang, Faustina, 1975- Memorial University of Newfoundland. Faculty of Engineering and Applied Science 2000. vii, 79 leaves : ill. Image/jpg; Application/pdf http://collections.mun.ca/cdm/ref/collection/theses3/id/148554 eng eng Electronic Theses and Dissertations (9.85 MB) -- http://collections.mun.ca/PDFs/theses/Hwang_Faustina.pdf a1492580 http://collections.mun.ca/cdm/ref/collection/theses3/id/148554 The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries Robots--Control systems Petri nets Text Electronic thesis or dissertation 2000 ftmemorialunivdc 2015-08-06T19:20:21Z Thesis (M.Eng.)--Memorial University of Newfoundland, 2000. Engineering and Applied Science Bibliography: leaves 74-79. In applications such as mining, space exploration, and toxic waste cleanup, mobile robots are often required to move within a common environment and to share resources. This introduces the need for a means of coordinating their behaviours. Also, due to the unpredictable nature of the worksite, there is a need to accommodate changes in a dynamic environment. -- A general framework for group robotics was developed in response to this need. The framework includes a discrete event controller for on-line control and runtime monitoring, the focus of the current research. -- A Petri net based discrete event formalism has been investigated as a basis for the development of an on-line controller, ftom a high-level task description, a set of rules have been used to automatically generate a Petri net structure that provides coordinated behaviour. The Petri net can then be executed to send instructions to robots and to incorporate feedback from the robots at runtime. This on-line controller has been used to control mobile robots in a proof-of-concept demonstration. In a laboratory setting, the Petri net controller was able to coordinate the behaviour of two robots in marker-based navigation tasks. -- Although the work completed to date has provided promising results, many research challenges remain. Some suggestions for future work are presented. Thesis Newfoundland studies University of Newfoundland Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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English |
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Robots--Control systems Petri nets |
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Robots--Control systems Petri nets Hwang, Faustina, 1975- A petri net on-line controller for the coordination of multiple mobile robots |
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Robots--Control systems Petri nets |
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Thesis (M.Eng.)--Memorial University of Newfoundland, 2000. Engineering and Applied Science Bibliography: leaves 74-79. In applications such as mining, space exploration, and toxic waste cleanup, mobile robots are often required to move within a common environment and to share resources. This introduces the need for a means of coordinating their behaviours. Also, due to the unpredictable nature of the worksite, there is a need to accommodate changes in a dynamic environment. -- A general framework for group robotics was developed in response to this need. The framework includes a discrete event controller for on-line control and runtime monitoring, the focus of the current research. -- A Petri net based discrete event formalism has been investigated as a basis for the development of an on-line controller, ftom a high-level task description, a set of rules have been used to automatically generate a Petri net structure that provides coordinated behaviour. The Petri net can then be executed to send instructions to robots and to incorporate feedback from the robots at runtime. This on-line controller has been used to control mobile robots in a proof-of-concept demonstration. In a laboratory setting, the Petri net controller was able to coordinate the behaviour of two robots in marker-based navigation tasks. -- Although the work completed to date has provided promising results, many research challenges remain. Some suggestions for future work are presented. |
author2 |
Memorial University of Newfoundland. Faculty of Engineering and Applied Science |
format |
Thesis |
author |
Hwang, Faustina, 1975- |
author_facet |
Hwang, Faustina, 1975- |
author_sort |
Hwang, Faustina, 1975- |
title |
A petri net on-line controller for the coordination of multiple mobile robots |
title_short |
A petri net on-line controller for the coordination of multiple mobile robots |
title_full |
A petri net on-line controller for the coordination of multiple mobile robots |
title_fullStr |
A petri net on-line controller for the coordination of multiple mobile robots |
title_full_unstemmed |
A petri net on-line controller for the coordination of multiple mobile robots |
title_sort |
petri net on-line controller for the coordination of multiple mobile robots |
publishDate |
2000 |
url |
http://collections.mun.ca/cdm/ref/collection/theses3/id/148554 |
genre |
Newfoundland studies University of Newfoundland |
genre_facet |
Newfoundland studies University of Newfoundland |
op_source |
Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries |
op_relation |
Electronic Theses and Dissertations (9.85 MB) -- http://collections.mun.ca/PDFs/theses/Hwang_Faustina.pdf a1492580 http://collections.mun.ca/cdm/ref/collection/theses3/id/148554 |
op_rights |
The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. |
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