On Multi-Robot Path Planning based on Petri Net Models and LTL Specifications

Hustiu, Sofia ; Mahulea, Cristian (Universidad de Zaragoza) ; Kloetzer, Marius ; Lesage, Jean-Jacques

Resumen: 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.

Idioma: Inglés

DOI: 10.1109/TAC.2024.3386024

Año: 2024

Publicado en: IEEE TRANSACTIONS ON AUTOMATIC CONTROL 69, 9 (2024), 6373-6380
ISSN: 0018-9286

Factor impacto JCR: 7.0 (2024)

Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 43 / 366 = 0.117 (2024) - Q1 - T1
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 12 / 89 = 0.135 (2024) - Q1 - T1

Factor impacto SCIMAGO: 3.804 - Electrical and Electronic Engineering (Q1) - Control and Systems Engineering (Q1) - Computer Science Applications (Q1)

Financiación: info:eu-repo/grantAgreement/EUR/AEI/TED2021-130449B-I00
Financiación: info:eu-repo/grantAgreement/ES/MICINN/PID2021-125514NB-I00

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)