000147640 001__ 147640
000147640 005__ 20250923084430.0
000147640 0247_ $$2doi$$a10.1109/TAC.2024.3386024
000147640 0248_ $$2sideral$$a138585
000147640 037__ $$aART-2024-138585
000147640 041__ $$aeng
000147640 100__ $$aHustiu, Sofia
000147640 245__ $$aOn Multi-Robot Path Planning based on Petri Net Models and LTL Specifications
000147640 260__ $$c2024
000147640 5060_ $$aAccess copy available to the general public$$fUnrestricted
000147640 5203_ $$aThis paper proposes a method exploiting the advantages of Petri net (PN) and Büchi automata models, by joining them in a newly defined Composed Petri net representation. Based on the latter model, collision-free trajectories are computed for a team of robots. The path planning algorithm is divided into two steps: computing a solution in a reduced PN model, and projecting it to the PN assigned to the environment. The results, given by a set of Mixed Integer Linear Programming (MILP) problems, yield lower computational complexity when compared with previous approaches.
000147640 536__ $$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130449B-I00$$9info:eu-repo/grantAgreement/ES/MICINN/PID2021-125514NB-I00
000147640 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000147640 590__ $$a7.0$$b2024
000147640 592__ $$a3.804$$b2024
000147640 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b43 / 366 = 0.117$$c2024$$dQ1$$eT1
000147640 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b12 / 89 = 0.135$$c2024$$dQ1$$eT1
000147640 593__ $$aElectrical and Electronic Engineering$$c2024$$dQ1
000147640 593__ $$aControl and Systems Engineering$$c2024$$dQ1
000147640 593__ $$aComputer Science Applications$$c2024$$dQ1
000147640 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000147640 700__ $$0(orcid)0000-0003-0056-2225$$aMahulea, Cristian$$uUniversidad de Zaragoza
000147640 700__ $$aKloetzer, Marius
000147640 700__ $$aLesage, Jean-Jacques
000147640 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000147640 773__ $$g69, 9 (2024), 6373-6380$$pIEEE trans. automat. contr.$$tIEEE TRANSACTIONS ON AUTOMATIC CONTROL$$x0018-9286
000147640 8564_ $$s1657588$$uhttps://zaguan.unizar.es/record/147640/files/texto_completo.pdf$$yPostprint
000147640 8564_ $$s3270886$$uhttps://zaguan.unizar.es/record/147640/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000147640 909CO $$ooai:zaguan.unizar.es:147640$$particulos$$pdriver
000147640 951__ $$a2025-09-22-14:43:02
000147640 980__ $$aARTICLE