000168519 001__ 168519
000168519 005__ 20260219141450.0
000168519 0247_ $$2doi$$a10.1016/j.robot.2025.105287
000168519 0248_ $$2sideral$$a147946
000168519 037__ $$aART-2026-147946
000168519 041__ $$aeng
000168519 100__ $$aHustiu, Sofia
000168519 245__ $$aMulti-robot motion planning based on Nets-within-Nets modeling and simulation
000168519 260__ $$c2026
000168519 5060_ $$aAccess copy available to the general public$$fUnrestricted
000168519 5203_ $$aThis paper focuses on designing motion plans for a heterogeneous team of robots that must cooperate to fulfill a global mission. Robots move in an environment that contains some regions of interest, while the specification for the entire team can include avoidance, visits, or sequencing of these regions of interest. The mission is expressed in terms of a Petri net corresponding to an automaton, while each robot is also modeled by a state machine Petri net. The current work brings about the following contributions with respect to existing solutions for related problems. First, we propose a novel model, denoted High-Level robot team Petri Net (HLrtPN) system, to incorporate the specification and robot models into the Nets-within-Nets paradigm. A guard function, named Global Enabling Function, is designed to synchronize the firing of transitions so that robot motions do not violate the specification. Then, the solution is found by simulating the HLrtPN system in a specific software tool that accommodates Nets-within-Nets. Illustrative examples based on Linear Temporal Logic missions support the computational feasibility of the proposed framework.
000168519 536__ $$9info:eu-repo/grantAgreement/ES/AEI/PID2023-148202OB-C22$$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130449B-I00$$9info:eu-repo/grantAgreement/ES/MCIU/PID2024-159284NB-I00
000168519 540__ $$9info:eu-repo/semantics/embargoedAccess$$aby-nc-nd$$uhttps://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
000168519 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000168519 700__ $$0(orcid)0000-0002-9622-8186$$aEzpeleta, Joaquín$$uUniversidad de Zaragoza
000168519 700__ $$0(orcid)0000-0003-0056-2225$$aMahulea, Cristian$$uUniversidad de Zaragoza
000168519 700__ $$aKloetzer, Marius
000168519 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000168519 7102_ $$15007$$2570$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Lenguajes y Sistemas Inf.
000168519 773__ $$g197 (2026), 105287 [39 pp.]$$pRobot. auton. syst.$$tROBOTICS AND AUTONOMOUS SYSTEMS$$x0921-8890
000168519 8564_ $$s1084777$$uhttps://zaguan.unizar.es/record/168519/files/texto_completo.pdf$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2027-12-08
000168519 8564_ $$s624872$$uhttps://zaguan.unizar.es/record/168519/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2027-12-08
000168519 909CO $$ooai:zaguan.unizar.es:168519$$particulos$$pdriver
000168519 951__ $$a2026-02-19-14:14:15
000168519 980__ $$aARTICLE