Paper Info
Title
Planning mobile robots with Boolean-based specifications
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 (PN) 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 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 a Mixed Integer Linear Programming problem whose solution yields robotic trajectories satisfying the task.
Year
DOI
Venue
2014
10.1109/CDC.2014.7040192
Decision and Control
Keywords
Field
DocType
Boolean functions,Petri nets,integer programming,linear programming,mobile robots,path planning,Boolean-based specifications,PN markings,Petri net,automated method,binary variables,linear constraints,linear inequalities,linear restrictions,logical requirements,mixed integer linear programming problem,mobile robot planning,movement capabilities,robot movement capabilities,robotic trajectories
Mathematical optimization,Petri net,Control theory,Computer science,Integer programming,Robot,Linear inequality,Mobile robot,Binary number
Conference
ISSN
Citations 
PageRank 
0743-1546
3
0.40
References 
Authors
16
2
Name
Order
Citations
PageRank
Cristian Mahulea116119.50
Marius Kloetzer247629.21