147640 20260217205529.0 doi 10.1109/TAC.2024.3386024 sideral 138585 ART-2024-138585 eng Hustiu, Sofia On Multi-Robot Path Planning based on Petri Net Models and LTL Specifications 2024 Access copy available to the general public Unrestricted This 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. info:eu-repo/grantAgreement/EUR/AEI/TED2021-130449B-I00 info:eu-repo/grantAgreement/ES/MICINN/PID2021-125514NB-I00 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 7.0 2024 ENGINEERING, ELECTRICAL & ELECTRONIC 43 / 368 = 0.117 2024 Q1 T1 AUTOMATION & CONTROL SYSTEMS 13 / 89 = 0.146 2024 Q1 T1 3.804 2024 Computer Science Applications 2024 Q1 Electrical and Electronic Engineering 2024 Q1 Control and Systems Engineering 2024 Q1 12.0 2024 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Mahulea, Cristian Universidad de Zaragoza (orcid)0000-0003-0056-2225 Kloetzer, Marius Lesage, Jean-Jacques 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 69, 9 (2024), 6373-6380 IEEE trans. automat. contr. IEEE TRANSACTIONS ON AUTOMATIC CONTROL 0018-9286 1657588 http://zaguan.unizar.es/record/147640/files/texto_completo.pdf Postprint 3270886 http://zaguan.unizar.es/record/147640/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:147640 articulos driver 2026-02-17-20:31:47 ARTICLE