Analysis of Soccer Robot Behaviors Using Time Petri Nets

Ponsini, Daniel; Yang, Yong; Kim, Seung-Yun

doi:10.1109/iri.2016.43

Cited by 8 publications

(7 citation statements)

References 10 publications

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“…A reference multilayer architectural model for the IoRT was proposed in [3] and analyzed in [11]. Models for the perception and control of robots in physical space and their applications were proposed in [12][13][14][15]. However, few studies explored the adoption of queuing networks for IoRT modeling and planning.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Models for perception and control of robots and their applications have been widely studied in the IoRT. Most of the efforts in this line [12][13][14][15] deal with mapping robot movement in physical space based on Petri Net (PN) models. In [12], a framework for the automatic generation of robots' coordinated mission based on PN was proposed in conjunction with an experimentation platform, while in [13], the PN was used to model and improve the navigation of multiple robots in a competition simulating a soccer match.…”

Section: Related Workmentioning

confidence: 99%

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Performance Evaluation of Message Routing Strategies in the Internet of Robotic Things Using the D/M/c/K/FCFS Queuing Network

et al. 2021

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The Internet of Robotic Things (IoRT) has emerged as a promising computing paradigm integrating the cloud/fog/edge computing continuum in the Internet of Things (IoT) to optimize the operations of intelligent robotic agents in factories. A single robot agent at the edge of the network can comprise hundreds of sensors and actuators; thus, the tasks performed by multiple agents can be computationally expensive, which are often possible by offloading the computing tasks to the distant computing resources in the cloud or fog computing layers. In this context, it is of paramount importance to assimilate the performance impact of different system components and parameters in an IoRT infrastructure to provide IoRT system designers with tools to assess the performance of their manufacturing projects at different stages of development. Therefore, we propose in this article a performance evaluation methodology based on the D/M/c/K/FCFS queuing network pattern and present a queuing-network-based performance model for the performance assessment of compatible IoRT systems associated with the edge, fog, and cloud computing paradigms. To find the factors that expose the highest impact on the system performance in practical scenarios, a sensitivity analysis using the Design of Experiments (DoE) was performed on the proposed performance model. On the outputs obtained by the DoE, comprehensive performance analyses were conducted to assimilate the impact of different routing strategies and the variation in the capacity of the system components. The analysis results indicated that the proposed model enables the evaluation of how different configurations of the components of the IoRT architecture impact the system performance through different performance metrics of interest including the (i) mean response time, (ii) utilization of components, (iii) number of messages, and (iv) drop rate. This study can help improve the operation and management of IoRT infrastructures associated with the cloud/fog/edge computing continuum in practice.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Performance Evaluation of Message Routing Strategies in the Internet of Robotic Things Using the D/M/c/K/FCFS Queuing Network

et al. 2021

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“…The ability to deal with uncertainty in mathematical situations provided by Fuzzy logic can be combined with the existing Petri net frameworks to create what is called a Fuzzy Petri net [8]. The main difference between a standard PN and a FPN is the fact that rather than having discrete requirements for a transition to fire, FPNs allow for fuzziness in the ability for a transition to fire.…”

Section: Fuzzy Petri Net Modelmentioning

confidence: 99%

“…Many researchers have been using PNs to help visualize the problems, ranging from modeling methodology of controlling autonomous robots [6], as well as to implement an optimal object avoidance approach for autonomous mobile robots [8].…”

Section: Introductionmentioning

confidence: 99%

Soccer Playing Robot Goal Scoring Algorithm Using Fuzzy Petri nets

Brodhead¹,

Hope²,

Kim

EPiC Series in Computing

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“…Fuzzy logic was added to PNs in order to create Fuzzy Petri nets (FPNs) and shown to be effective in modeling robot navigations (Kim, 2016). Time intervals were incorporated to transitions in PNs to developed Time Petri nets (TPNs) and used delaying token firings (Ponsini, 2015), and colored tokens were used to form Colored Petri nets (CPNs) and modeled different types of data with different colors (Pham, 2015). One such variant is the Timed Petri net (TdPN) but a Timed Petri net is a subset of TPN.…”

Section: Time/timed Petri Netsmentioning

confidence: 99%

Efficient Communication and Navigation for Soccer Robots using a Time Petri net Model

Chiovarou,

Bland,

Kim

EPiC Series in Computing

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Robotics is a very expansive and ever-growing field that allows for a large number of different scenarios to occur. Once application is coordination of multiple robots in a single system, and that is highlighted in an environment such as RoboCup competitions. The Contextual Communication and Navigation (CCN) Algorithm is an approach to the problem of multiple robots coordinating at a common goal through the lens of Communication and Navigation. A scheme of communication that allows Nao Robots to efficiently communicate their positions using the minimal number of bits to transfer data was designed as well as a navigation scheme that allows robots to use the information they have on other robots to navigate to a goal. The CCN Algorithm was simulated and tested along with Dijkstra and A* in order to compare the effectiveness of each of the algorithms in tackling this problem and it was found that the CCN Algorithm was the most efficient.

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Analysis of Soccer Robot Behaviors Using Time Petri Nets

Cited by 8 publications

References 10 publications

Performance Evaluation of Message Routing Strategies in the Internet of Robotic Things Using the D/M/c/K/FCFS Queuing Network

Performance Evaluation of Message Routing Strategies in the Internet of Robotic Things Using the D/M/c/K/FCFS Queuing Network

Soccer Playing Robot Goal Scoring Algorithm Using Fuzzy Petri nets

Efficient Communication and Navigation for Soccer Robots using a Time Petri net Model

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