A Comparative Model-based Analysis for Multi-robot Systems

Abstract For a robotic workcell with multiple robots, several interconnection methods are presented in terms of the processor based architecture. A comparative perfonnance study for multi-robot systems is presented through different modeling. Performance evaluation is achieved through the queueing analysis and Petri net models with the response time and the probability of service failure under different workload. To verify the significance of the proposed analysis method, computer simulation is carried out. The results together with some comments suggest a useful guideline for selecting an appropriate interconnection method for multi-robot systems subject to the system environment and application.