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A systematic multi-agent controller synthesis approach is presented in this paper. An abstract format for multi-agent task sequence is defined first. The typical elementary task sequences in multi-agent collaboration applications and the corresponding Petri Nets (PN) models are presented. This correspondence is used as templates to map a task sequence to a synthesized multi-agent PN controller model. We demonstrate the proposed approach using a two-agent controller synthesis problem in a layered manufacturing application.
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on (Volume:3 )
Date of Conference: 14-19 Sept. 2003