000079155 001__ 79155 000079155 005__ 20200117221603.0 000079155 0247_ $$2doi$$a10.1109/TAC.2017.2760249 000079155 0248_ $$2sideral$$a107091 000079155 037__ $$aART-2018-107091 000079155 041__ $$aeng 000079155 100__ $$0(orcid)0000-0003-0056-2225$$aMahulea, C.$$uUniversidad de Zaragoza 000079155 245__ $$aRobot planning based on boolean specifications using petri net models 000079155 260__ $$c2018 000079155 5060_ $$aAccess copy available to the general public$$fUnrestricted 000079155 5203_ $$aIn 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. 000079155 536__ $$9info:eu-repo/grantAgreement/ES/CICYT-FEDER/DPI2014-57252-R$$9info:eu-repo/grantAgreement/ES/CICYT-FEDER/DPI2017-88233-R$$9info:eu-repo/grantAgreement/ES/DGA/PN-III-P1-1.1-TE-2016-0737$$9info:eu-repo/grantAgreement/ES/DGA/T27 000079155 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000079155 590__ $$a5.093$$b2018 000079155 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b35 / 265 = 0.132$$c2018$$dQ1$$eT1 000079155 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b10 / 62 = 0.161$$c2018$$dQ1$$eT1 000079155 592__ $$a3.233$$b2018 000079155 593__ $$aComputer Science Applications$$c2018$$dQ1 000079155 593__ $$aElectrical and Electronic Engineering$$c2018$$dQ1 000079155 593__ $$aControl and Systems Engineering$$c2018$$dQ1 000079155 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000079155 700__ $$aKloetzer, M. 000079155 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000079155 773__ $$g63, 7 (2018), 2218-2225$$pIEEE trans. automat. contr.$$tIEEE TRANSACTIONS ON AUTOMATIC CONTROL$$x0018-9286 000079155 8564_ $$s162465$$uhttps://zaguan.unizar.es/record/79155/files/texto_completo.pdf$$yPostprint 000079155 8564_ $$s146897$$uhttps://zaguan.unizar.es/record/79155/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000079155 909CO $$ooai:zaguan.unizar.es:79155$$particulos$$pdriver 000079155 951__ $$a2020-01-17-21:44:10 000079155 980__ $$aARTICLE