A Petri net based approach for multi-robot path planning

This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions...

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Bibliographic Details
Published inDiscrete event dynamic systems Vol. 24; no. 4; pp. 417 - 445
Main Authors Kloetzer, Marius, Mahulea, Cristian
Format Journal Article
LanguageEnglish
Published Boston Springer US 01.12.2014
Subjects
Control
Controllers
Convex and Discrete Geometry
Dynamical systems
Dynamics
Electrical Engineering
Machines
Manufacturing
Mathematics
Mathematics and Statistics
Operations Research/Decision Theory
Probabilistic methods
Probability theory
Processes
Representations
Robots
Specifications
Systems Theory
Abstractions
Hybrid systems
Discrete event systems
Algorithms
Mobile robots
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Summary:This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:0924-6703
1573-7594
DOI:10.1007/s10626-013-0162-6