145433 20241030091919.0 doi 10.4995/riai.2020.13785 sideral 123295 ART-2021-123295 spa Mahulea, C Universidad de Zaragoza (orcid)0000-0003-0056-2225 Path planning of multirobot systems using Petri net models. Results and open problems 2021 This 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. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00 info:eu-repo/grantAgreement/ES/MICIU-AEI-FEDER/PGC2018-098817-A-I00 info:eu-repo/semantics/openAccess by-nc-nd http://creativecommons.org/licenses/by-nc-nd/3.0/es/ 1.25 2021 AUTOMATION & CONTROL SYSTEMS 59 / 65 = 0.908 2021 Q4 T3 ROBOTICS 29 / 30 = 0.967 2021 Q4 T3 0.446 2021 Control and Systems Engineering 2021 Q2 Computer Science (miscellaneous) 2021 Q2 3.0 2021 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Gonzalez, R Universidad de Zaragoza (orcid)0000-0003-3760-1371 Montijano, E Universidad de Zaragoza (orcid)0000-0002-5176-3767 Silva, M Universidad de Zaragoza (orcid)0000-0001-8631-8770 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 5002 515 Universidad de Zaragoza Dpto. Ingeniería Diseño Fabri. Área Ing. Procesos Fabricación 18, 1 (2021), 19-31 Rev. iberoam. autom. inform. ind. Revista iberoamericana de automática e informática industrial 1697-7912 1103467 http://zaguan.unizar.es/record/145433/files/texto_completo.pdf Versión publicada 2229041 http://zaguan.unizar.es/record/145433/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:145433 articulos driver 2024-10-30-08:48:21 ARTICLE