Coordination Specification For A Robotic Platform System
Fei–Yue Wang, Michael Mittmann · 2005
,Abhract -A formal model based on Petri net trangducers has been developed to specify the coordidat ion and communication among the various task units in the CIRSSE platform system for robofic construction in space stations. The specificatiop guarantees a mechanism of coherent control and Communication for the effective cooperation amofig the different task units, and outlines the majok steps toward the integration of the robotic platfbrm system. The model is based on a coordidation structure consisting of one dispatcher and three coordinators representing, respectively, the +otion, vision, and gripper units of the platform I system. The coordination structure insures somel desired process properties for the system, such lboundedness, liveness, and reversibility, and easiet translation from the formal specifications to the Rrogram codes based on Petri net transducer moddls. I