53rd IEEE Conference on Decision and Control 2014
DOI: 10.1109/cdc.2014.7040192
|View full text |Cite
|
Sign up to set email alerts
|

Planning mobile robots with Boolean-based specifications

Abstract: Abstract-This research proposes an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The specification consists of logical requirements over some regions of interest for the agents' trajectories and for their final states. A Petri net with outputs models the movement capabilities of the team and the active regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities … Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
1

Citation Types

0
3
0

Year Published

2014
2014
2022
2022

Publication Types

Select...
4
3

Relationship

1
6

Authors

Journals

citations
Cited by 11 publications
(3 citation statements)
references
References 21 publications
0
3
0
Order By: Relevance
“…∀x i , x j ∈ P ∪ T there exists a path starting in x i and ending in x j ). Thus, the PN has no spurious markings and the set of its reachable markings can be characterized by the state equation (1).…”
Section: Problem Definitionmentioning
confidence: 99%
See 1 more Smart Citation
“…∀x i , x j ∈ P ∪ T there exists a path starting in x i and ending in x j ). Thus, the PN has no spurious markings and the set of its reachable markings can be characterized by the state equation (1).…”
Section: Problem Definitionmentioning
confidence: 99%
“…Solution main steps. Our solution begins by converting specification ϕ into n linear restrictions over a set of 2 • |Π| binary variables, as described in [1]. Then, links between these binary variables and proposition satisfactions are enforced by using linear inequalities based on the PN model Q.…”
Section: Problem Definitionmentioning
confidence: 99%
“…In an MRS, the system's environment was divided into zones, and the movement of any robot from one zone to another was treated as a discrete event [20][21][22][23]. Petri nets(PNs) are an efficient tool to model, analyze, and control discrete event systems [24][25][26][27][28][29][30][31], such as robotics and intelligent transportation.…”
Section: Introductionmentioning
confidence: 99%