Petri Net Toolbox for Multi-Robot Planning under Uncertainty

Petri Net Toolbox for Multi-Robot Planning under Uncertainty

Blog Article

Currently, there is a lack of developer-friendly software tools to formally address multi-robot coordination problems and obtain robust, efficient, and predictable strategies.This paper introduces a software bostik universal primer pro toolbox that encapsulates, in one single package, modeling, planning, and execution algorithms.It implements a state-of-the-art approach to representing multi-robot systems: generalized Petri nets with rewards (GSPNRs).GSPNRs enable capturing multiple robots, decision states, action execution states and respective outcomes, action duration uncertainty, and team-level objectives.

We introduce a novel algorithm that simplifies the model design process as it generates a GSPNR from a topological map.We also introduce a novel execution algorithm that coordinates the multi-robot system according to a given policy.This is achieved without compromising the model compactness introduced by representing robots as indistinguishable tokens.We characterize the computational performance of the toolbox with a series of stress tests.

These tests reveal a lightweight implementation that requires low CPU and memory usage.We showcase the toolbox read more functionalities by solving a multi-robot inspection application, where we extend GSPNRs to enable the representation of heterogeneous systems and system resources such as battery levels and counters.