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Related Experiment Video

Updated: May 14, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Formalization, implementation, and modeling of institutional controllers for distributed robotic systems.

José N Pereira¹, Porfírio Silva, Pedro U Lima

¹EPFL, Instituto Superior Técnico.

Artificial Life

|February 5, 2013

Summary

This summary is machine-generated.

This study introduces institutional robotics, a framework for robot team coordination inspired by economics. Executable Petri nets enable programming institutional controllers for robot swarms, demonstrating effective wireless connectivity maintenance.

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Area of Science:

Robotics
Artificial Intelligence
Computer Science

Background:

Introduces institutional robotics, a novel framework for robot team coordination derived from institutional economics.
Defines institutions as environmental or agent modifications supporting collective order.
Addresses the need for robust coordination mechanisms in distributed robotic systems.

Purpose of the Study:

To present a formal model of institutional controllers using Petri nets.
To define executable Petri nets for designing, programming, and executing institutional controllers.
To model and analyze the performance of institutional robotics using generalized stochastic Petri nets.

Main Methods:

Developed executable Petri nets, an extension of Petri nets incorporating robot actions and sensing.
Modeled a robot team controlled by institutional controllers using a generalized stochastic Petri net.
Conducted realistic simulations with up to 40 e-puck robots to validate the formalism.

Main Results:

Demonstrated the ability of the Petri net formalism to replicate results from other approaches.
Successfully modeled a robot swarm maintaining wireless connectivity using an institutional controller.
Validated model predictions against simulation results and previously reported findings using finite state automata.

Conclusions:

The proposed Petri net-based institutional controller framework is effective for robot team coordination.
The formalism provides a viable method for designing, programming, and analyzing distributed robotic systems.
Institutional robotics offers a promising approach for complex multi-robot tasks like maintaining network connectivity.