Application of growing nested Petri nets for modeling robotic systems operating under risk

[摘要] The paper studies the peculiarities of modeling robotic systems engaged in mining. Existing modeling mechanisms are considered, which are based on nested Petri nets, and a new formalism of growing Petri nets is presented that allows modeling robotic systems operating under risk. Modeling is provided both for the regular operation mode and for non-standard modes in which individual elements of the system can perform uncharacteristic functions. The example shows growing Petri nets that are used for modeling extraction of flat coal seams by a robotic system consisting of several different-type autonomous robots.

[发布机构] National Research University, Moscow Power Engineering Institute in Smolensk, 1, Energeticheskiy proezd, Smolensk; 214013, Russia^1

[效力级别] 电工学

[关键词] Coal seams;Model extraction;Model mechanisms;Regular operations;Robotic systems