Petri Nets Based Coordination Mechanism for Cooperative Multi-Robot System

Abstract

The coordination of cooperative multi-robot system is an area which has grown significantly in importance in the last few years due to the latest breakthroughs in robotics technology. Many studies have been done in order to achieve a better understanding in this domain. This paper presents and compares the current coordination techniques and presents two study Petri Nets (PNs) coordination mechanism for a large-scale multi-robot system (MRS) represented by a flexible beverage production line and a small scale cooperative mobile MRS represented by a system with three members.