A Petri Net-based Model for the Attacking Soccer Robots
نویسنده
چکیده
Soccer robot is a challenging platform for multi-agent research, involving topics such as real-time image processing and control, robot path planning, obstacle avoidance and machine learning. A soccer robot has to take an appropriate decision based on environment situation. With the role of a robot fixed as goalkeeper, the supervisor, according to the game situation, assigns the role of attacking or defending to the other robots and then the respective controllers control the robots. The controller for the attacking robot is designed using Petri nets. The Petri net model are implemented in Petri Net Toolbox under MATLAB environment. Finally, the feasibility of the Petri net model for the attacking robots is demonstrated by the experimental results. Key-Words: robot soccer, MiroSoT, Petri net, incidence matrix, P-invariants, T-invariants.
منابع مشابه
Soccer Goalkeeper Task Modeling and Analysis by Petri Nets
In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...
متن کاملPath Planning and Role Selection Mechanism for Soccer Robots
A real time vector field based path planning for attack mode robot and a Petri-net state diagram approach for robot’s role selection for robot soccer games are proposed in this paper Robot soccer game has dynamic environments as different robots intentionally affect the environment in unpredictable ways in a competitive setting. A soccer-playing robot has to take an appropriate action according...
متن کاملVector Field Based Path Planning and Petri-Net Based Role Selection Mechanism with Q-Learning for the Soccer Robot System
The paper discusses a multi-agent system for robot-soccer. The system consists of a supervisory controller, and controllers for attack, defense and goalie robots. Real time vector field based path planning, Petri-net theory and Q-learning technique are used in the design. Robot-soccer system has a dynamic environment. A soccer robot has to take an appropriate decision based on environment situa...
متن کاملA Petri-net based modeling tool, for analysis and evaluation of computer systems
Petri net is one of the most popular methods in modeling and evaluation of concurrent and event-based systems. Different tools have been created to support modeling and simulation of different extensions of Petri net in different applications. Each tool supports some extensions and some features. In this work a Petri net based modeling and evaluation tool is presented that not only supports dif...
متن کاملA Formal Petri Net Based Model for Antivirus Update Agent System
In this paper, a formal model for antivirus update agent system is presented based on mobile agent technology and predicate/transition Petri nets. The mobile agent system contains two mobile agents called DCA and UNA. It sends out agents to update antivirus on client computers in a network. Each agent takes on a specified responsibility. First, DCA roams through the network and check the last d...
متن کامل