Robot planning based on boolean specifications using petri net models

Mahulea, C. (Universidad de Zaragoza) ; Kloetzer, M.

Resumen: In this paper, we propose an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The task consists of logical requirements over some regions of interest for the agents'' trajectories and for their final states. In other words, we allow combinatorial specifications defining desired final states whose attainment includes visits to, avoidance of, and ending in certain regions. The path planning approach should select such final states that optimize a certain global cost function. In particular, we consider minimum expected traveling distance of the team and reduce congestions. A Petri net (PN) with outputs models the movement capabilities of the team and the regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities are formulated as linear constraints on PN markings, and the evaluations of the binary variables are linked with PN markings via linear inequalities. This allows us to solve an integer linear programming problem whose solution yields robotic trajectories satisfying the task.

Idioma: Inglés

DOI: 10.1109/TAC.2017.2760249

Año: 2018

Publicado en: IEEE TRANSACTIONS ON AUTOMATIC CONTROL 63, 7 (2018), 2218-2225
ISSN: 0018-9286

Factor impacto JCR: 5.093 (2018)

Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 35 / 265 = 0.132 (2018) - Q1 - T1
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 10 / 62 = 0.161 (2018) - Q1 - T1

Factor impacto SCIMAGO: 3.233 - Computer Science Applications (Q1) - Electrical and Electronic Engineering (Q1) - Control and Systems Engineering (Q1)

Financiación: info:eu-repo/grantAgreement/ES/CICYT-FEDER/DPI2014-57252-R
Financiación: info:eu-repo/grantAgreement/ES/CICYT-FEDER/DPI2017-88233-R
Financiación: info:eu-repo/grantAgreement/ES/DGA/PN-III-P1-1.1-TE-2016-0737
Financiación: info:eu-repo/grantAgreement/ES/DGA/T27

Tipo y forma: Artículo (PostPrint)

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