Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
ADAPTIVE DISCRETE EVENT CONTROL BASED ON INTEGRATION OF PNRD AND iPNRD APPLIED TO BLOCK WORLD DOMAIN
Submission Author:
Gabriel de Almeida Souza , MG
Co-Authors:
José Jean Paul Zanlucchi de Souza Tavares, Gabriel de Almeida Souza
Presenter: Gabriel de Almeida Souza
doi://10.26678/ABCM.COBEM2019.COB2019-1275
Abstract
One way to integrate physical and informational world operationally is achieved by Petri Nets combined with RFID (Radio Frequency Identification) called PNRD (Petri Nets inside RFID Database), usually applied to passive agents, and iPNRD (inverted PNRD), suitable to active agents. Despite their similarities, their integration is still an open issue. This work purposes to connect them by applying into robotic bench system similarly to the blocks world domain. The procedure is composed by building a PNRD/iPNRD model for each agent, and by integration of their data so that the robot may autonomously order the blocks in order to find the final global state (stored inside each block's RFID tag); comparing logical and physical information, generating a plan, and executing related actions. Some complications arise due to scattered information, inconsistencies between physical and logical information, which requires exception detection due to partial observed system, and the movement restriction of one block at a time. The confrontation of PNRD/iPNRD models with physical positioning can verify the initial, intermediate and final condition and also check for exceptions, which can trigger automatically a new identification sweep, resulting in an adaptive discrete event control.
Keywords
Petri Nets, PNRD, iPNRD, Adaptive discrete event control, Robotic Sorting
