000124038 001__ 124038
000124038 005__ 20230706131804.0
000124038 0247_ $$2doi$$a10.1016/j.ifacol.2022.10.326
000124038 0248_ $$2sideral$$a132464
000124038 037__ $$aART-2022-132464
000124038 041__ $$aeng
000124038 100__ $$aHustiu, Sofia
000124038 245__ $$aParallel motion execution and path rerouting for a team of mobile robots
000124038 260__ $$c2022
000124038 5060_ $$aAccess copy available to the general public$$fUnrestricted
000124038 5203_ $$aThis work achieves parallel movements and collision free paths for a team of identical robots evolving in a known environment while satisfying a global Boolean-based formula over a set of regions of interest. The movement capabilities of the robots within the grid-based environment are modeled as a Petri net system. The solution starts from initially known robot paths given by the approach in (Mahulea et al., 2020b). The main advantages of this work are two-folded: (i) it reduces the number of waiting states of the robots throughout their paths, (ii) it considers path rerouting action solved by a MILP problem, without generating new observations along their paths. The rerouting is triggered when the number of robots that are waiting is greater than a threshold, or when some stopped robots inhibit the movement of others. Thus, the proposed method yields parallel movement of robots and path rerouting when needed. The algorithm is integrated in the open-source toolbox RMTool (González et al., 2015).
000124038 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
000124038 592__ $$a0.354$$b2022
000124038 593__ $$aControl and Systems Engineering$$c2022
000124038 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000124038 700__ $$0(orcid)0000-0003-0056-2225$$aMahulea, Cristian$$uUniversidad de Zaragoza
000124038 700__ $$aKloetzer, Marius
000124038 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000124038 773__ $$g55, 28 (2022), 73-78$$pIFAC-PapersOnLine$$tIFAC PAPERSONLINE$$x2405-8963
000124038 8564_ $$s535858$$uhttps://zaguan.unizar.es/record/124038/files/texto_completo.pdf$$yVersión publicada
000124038 8564_ $$s3477428$$uhttps://zaguan.unizar.es/record/124038/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000124038 909CO $$ooai:zaguan.unizar.es:124038$$particulos$$pdriver
000124038 951__ $$a2023-07-06-12:25:40
000124038 980__ $$aARTICLE