In: Cooperative Intelligent Robotics in Space. Proceedings of SPIE, The International Society for Optical Engineering, Vol. 1387 (Conference: 1990, Boston, MA, USA), pages 169-180. Bellingham, WA, USA: International Society for Optical Engineering, 1991.
Abstract: In this paper, the authors present developments for the dynamic specification of the distributed semantics of hierarchical multiagent systems and the synchronization of their component agents. A distributed model of concurrency based on Petri net theory is presented. It is then applied to the hierarchical decomposition, distribution, and localization of a bracket assembly task. The horizontal synchronization-structures developed by the Petri net model maintain the desirable properties of safeness and liveness by construction.
Keywords: task decomposition (and) distribution; robot coordination; distributed semantics (of) multiagent systems; bracket assembly task; safeness; liveness.