000145433 001__ 145433
000145433 005__ 20241030091919.0
000145433 0247_ $$2doi$$a10.4995/riai.2020.13785
000145433 0248_ $$2sideral$$a123295
000145433 037__ $$aART-2021-123295
000145433 041__ $$aspa
000145433 100__ $$0(orcid)0000-0003-0056-2225$$aMahulea, C$$uUniversidad de Zaragoza
000145433 245__ $$aPath planning of multirobot systems using Petri net models. Results and open problems
000145433 260__ $$c2021
000145433 5060_ $$aAccess copy available to the general public$$fUnrestricted
000145433 5203_ $$aThis paper presents a trajectory planning approach in multirobot systems based on Petri net models. This type of models is very useful for high-level specifications since, in this case, the classical planning methods (potential functions, RRT algorithms, RRT*) cannot be used being difficult to determine a priori the sequence of configurations for each robot. This work presents the formal definition of the Robot Motion Petri net that is obtained from a partition of the environment in cells. Using the structure of the Petri net, in case of specifications defined as Boolean or Linear Temporal Logic (LTL) formulas, different optimization problems are presented that can be used to obtain trajectories for robots. The main advantage of models based on Petri nets is their scalability with respect to the number of robots. This makes it possible to efficiently solve planning problems with a large number of robots. In the second part of the paper, some extensions and new results for distributed planning in unknown environments and with partial communications between robots are presented.ntial functions, RRT algorithms, RRT*) cannot be used being difficult to determine a priori the sequence of configurations for each robot. This work presents the formal definition of the Robot Motion Petri net that is obtained from a partition of the environment in cells. Using the structure of the Petri net, in case of specifications defined as Boolean or Linear Temporal Logic (LTL) formulas, different optimization problems are presented that can be used to obtain trajectories for robots. The main advantage of models based on Petri nets is their scalability with respect to the number of robots. This makes it possible to efficiently solve planning problems with a large number of robots. In the second part of the paper, some extensions and new results for distributed planning in unknown environments and with partial communications between robots are presented.
000145433 536__ $$9info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00$$9info:eu-repo/grantAgreement/ES/MICIU-AEI-FEDER/PGC2018-098817-A-I00
000145433 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
000145433 590__ $$a1.25$$b2021
000145433 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b59 / 65 = 0.908$$c2021$$dQ4$$eT3
000145433 591__ $$aROBOTICS$$b29 / 30 = 0.967$$c2021$$dQ4$$eT3
000145433 592__ $$a0.446$$b2021
000145433 593__ $$aControl and Systems Engineering$$c2021$$dQ2
000145433 593__ $$aComputer Science (miscellaneous)$$c2021$$dQ2
000145433 594__ $$a3.0$$b2021
000145433 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000145433 700__ $$0(orcid)0000-0003-3760-1371$$aGonzalez, R$$uUniversidad de Zaragoza
000145433 700__ $$0(orcid)0000-0002-5176-3767$$aMontijano, E$$uUniversidad de Zaragoza
000145433 700__ $$0(orcid)0000-0001-8631-8770$$aSilva, M$$uUniversidad de Zaragoza
000145433 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000145433 7102_ $$15002$$2515$$aUniversidad de Zaragoza$$bDpto. Ingeniería Diseño Fabri.$$cÁrea Ing. Procesos Fabricación
000145433 773__ $$g18, 1 (2021), 19-31$$pRev. iberoam. autom. inform. ind.$$tRevista iberoamericana de automática e informática industrial$$x1697-7912
000145433 8564_ $$s1103467$$uhttps://zaguan.unizar.es/record/145433/files/texto_completo.pdf$$yVersión publicada
000145433 8564_ $$s2229041$$uhttps://zaguan.unizar.es/record/145433/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000145433 909CO $$ooai:zaguan.unizar.es:145433$$particulos$$pdriver
000145433 951__ $$a2024-10-30-08:48:21
000145433 980__ $$aARTICLE