In: Proceedings of the 5th IEEE International Symposium on Intelligent Control, 1990, Philadelphia, PA, USA, pages 611-616. Piscataway, NJ, USA: IEEE Service Center, 1990.
Abstract: An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical specification of the flow of control and the temporal order of task execution by multiagent systems. Each level of the resulting hierarchies horizontally contains the synchronization structure of task execution and vertically is a generalization of the level below and a specialization of the level above.The horizontal synchronization structures developed by the proposed Petri net model maintain the desirable properties of safeness and liveness by construction.
Keywords: robot sensorimotor synchronization; net algebra; distributed semantics (of) task synchronization; hierarchical specification; multiagent system; synchronization structure; safeness; liveness.