Abstract
A formal approach is proposed for planning a team of mobile robots such that no collision occurs and tasks represented by a Boolean specification are satisfied. It should be specially noted that the order, by which the given tasks are executed, is taken into account by the specification. First, a team of mobile robots and their environment are modeled as a Petri net (PN). Second, a method is presented to design place nodes enforcing a given specification on the PN model. Consequently, the resultant PN can be used to model the robot team’s behaviors that satisfy the specification. Third, an optimal problem, minimizing the total traveling distance that the robots take to perform given tasks, is formulated as an integer linear programming (ILP) problem via the PN model. By solving the ILP problem, the optimal action sequence is obtained, which actually means an optimal strategy to schedule robots.
This work was supported in part by National Science Foundation of China under Grant No. 61973130, 61573158 and 61773343, and Natural Science Foundation of FuJian Province of China under Grant 2014J01241.
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Zhang, H., Luo, J., Long, J., Huang, Y., Wu, W. (2020). Multi-robot Path Planning Using Petri Nets. In: Ben Hedia, B., Chen, YF., Liu, G., Yu, Z. (eds) Verification and Evaluation of Computer and Communication Systems. VECoS 2020. Lecture Notes in Computer Science(), vol 12519. Springer, Cham. https://doi.org/10.1007/978-3-030-65955-4_2
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