79155 20200117221603.0 doi 10.1109/TAC.2017.2760249 sideral 107091 ART-2018-107091 eng (orcid)0000-0003-0056-2225 Mahulea, C. Universidad de Zaragoza Robot planning based on boolean specifications using petri net models 2018 Access copy available to the general public Unrestricted 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. info:eu-repo/grantAgreement/ES/CICYT-FEDER/DPI2014-57252-R info:eu-repo/grantAgreement/ES/CICYT-FEDER/DPI2017-88233-R info:eu-repo/grantAgreement/ES/DGA/PN-III-P1-1.1-TE-2016-0737 info:eu-repo/grantAgreement/ES/DGA/T27 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 5.093 2018 ENGINEERING, ELECTRICAL & ELECTRONIC 35 / 265 = 0.132 2018 Q1 T1 AUTOMATION & CONTROL SYSTEMS 10 / 62 = 0.161 2018 Q1 T1 3.233 2018 Computer Science Applications 2018 Q1 Electrical and Electronic Engineering 2018 Q1 Control and Systems Engineering 2018 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Kloetzer, M. 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 63, 7 (2018), 2218-2225 IEEE trans. automat. contr. IEEE TRANSACTIONS ON AUTOMATIC CONTROL 0018-9286 162465 http://zaguan.unizar.es/record/79155/files/texto_completo.pdf Postprint 146897 http://zaguan.unizar.es/record/79155/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:79155 articulos driver 2020-01-17-21:44:10 ARTICLE