JSEA  Vol.4 No.2 , February 2011
RPBTC: An Implementation Method for Robot Planning
ABSTRACT
Aiming at the former formalized methods such as Strips, Situation Calculus and Fluent Calculus can not represent the action time and get the action sequence automatically, a novel method based on timed color Petri net—RPBTC was defined. The action time, the precondition and the post-condition of action are formalized in RPBTC based on the Fluent Calculus reasoning rules. An algorism for constructing the RPBTC net system based on bidirectional search strategy is proposed, and through executing the RPBTC net system, the action sequence for reaching the goal can be generated dynamically and the time for the robot reaching the goal also can be obtained. The experiment has proved the method RPBTC as a feasible method for robot planning.

Cite this paper
nullS. Zhong, Q. Chen, Y. Zhou and J. Yuan, "RPBTC: An Implementation Method for Robot Planning," Journal of Software Engineering and Applications, Vol. 4 No. 2, 2011, pp. 81-85. doi: 10.4236/jsea.2011.42009.
References
[1]   J. McCarthy and P. J. Hayes, “Haves Some Philosophical Problems from the Standpoint of Artificial Intelligence,” B. Meltzer and D. Michie, Eds., Machine Intelligence, Vol. 4, 1969, pp. 463-502.

[2]   K. Jensen, L. M. Kristensen and L. Wells. “Coloured Petri Nets and CPN Tools for Modelling and Validation of Concurrent Systems,” Software Tools for Technology Transfer, Vol. 9, No. 3-4, 2007, pp. 213-254. doi:10.1007/s10009-007-0038-x

[3]   P. F. Palamara, V. A. Ziparo, L. Iocchi, et al., “A Robotic Soccer Passing Task Using Petri Net Plans,” Proceedings of 7th International Conference on Autonomous Agents and Multiagent Systems, Estoril, 12-16 May 2008, pp. 1711-1712.

[4]   V. A. Ziparo and L. Iocchi, “Petri Net Plans,” Fourth International Workshop on Modelling of Objects, Components, and Agents, Turku, 26 June 2006, pp. 267-290.

[5]   B. X. Ma, Z. H. Wu and Y. L. Xu, “Research on Multi-Agent Planning with Petri Nets,” Computer Engineering, In Chinese, Vol. 32, No. 14, 2006, pp. 4-6.

[6]   Y. Jin and M. Thielscher, “Iterated Belief Revision, Revised,” Artificial Intelligence, Vol. 171, No. 1, 2007, pp. 1-18. doi:10.1016/j.artint.2006.11.002

[7]   S. Sardina, G. de Giacomo, Y. Lesperance, et al., “On the Semantics of Deliberation in Indigolog-From Theory to Implementation,” Annals of Mathematics and Artificial Intelligence, Vol. 41, No. 2-4, 2004, pp. 259-299. doi:10.1023/B:AMAI.0000031197.13122.aa

[8]   CPN Tools. http://www.daimi.au.dk/CPNTools/

 
 
Top