Prioritized Situation Awareness for Soccer Robots Using Timed Transition Petri Nets

摘要

Petri nets (PNs) are a type of modeling tool used to visualize and simulate a variety of simple and complex systems. Although basic PNs are a strong modeling tool by themselves, they are limited by their simplicity. The addition of a time variable into PN theory allows for the modeling of much more in depth systems. Timed PNs use specific time stamps to declare delays of certain operations. Not only does the addition of time expand the use of PNs, but it can be used to model systems in real time. The Robot Soccer World Cup Standard Platform League was chosen as the system to model due to its competitive and collaborative nature. In this paper, Timed PNs are used to model cooperation and communication between soccer playing robots through the Collaborative Passing and Movement (CoPaM) algorithm. Once modeling and simulations were completed, the results showed the constructed CoPaM algorithm was more efficient than the Simulated Annealing algorithm by 11% and more efficient than the Rapidly-exploring Random Tree algorithm by 58%.