Path planning of multirobot systems using Petri net models. Results and open problems

Mahulea, C (Universidad de Zaragoza) ; Gonzalez, R (Universidad de Zaragoza) ; Montijano, E (Universidad de Zaragoza) ; Silva, M (Universidad de Zaragoza)

Resumen: 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.

Idioma: Español

DOI: 10.4995/riai.2020.13785

Año: 2021

Publicado en: Revista iberoamericana de automática e informática industrial 18, 1 (2021), 19-31
ISSN: 1697-7912

Factor impacto JCR: 1.25 (2021)

Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 59 / 65 = 0.908 (2021) - Q4 - T3
Categ. JCR: ROBOTICS rank: 29 / 30 = 0.967 (2021) - Q4 - T3

Factor impacto CITESCORE: 3.0 - Computer Science (Q2) - Engineering (Q2)

Factor impacto SCIMAGO: 0.446 - Control and Systems Engineering (Q2) - Computer Science (miscellaneous) (Q2)

Financiación: info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00
Financiación: info:eu-repo/grantAgreement/ES/MICIU-AEI-FEDER/PGC2018-098817-A-I00

Tipo y forma: Article (Published version)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
Área (Departamento): Área Ing. Procesos Fabricación (Dpto. Ingeniería Diseño Fabri.)