Path Planning of Cooperative Mobile Robots Using Discrete Event Models. Cristian Mahulea

      

      Table of Contents

      1  Cover

      2  Foreword

      3  Preface

      4  Acknowledgments

      5  Acronyms

      6  Chapter 1: Introduction 1.1 Historical perspective of mobile robotics 1.2 Path planning. Definition and historical background 1.3 Motion control. Definition and historical background 1.4 Motivation for expressive tasks 1.5 Assumptions of this monograph 1.6 Outline of this monograph

      7  2 Robot Motion Toolbox 2.1 Introduction 2.2 General description of the simulator 2.3 Path planning algorithms 2.4 Robot kinematic models 2.5 Motion control algorithms 2.6 Illustrative examples 2.7 Conclusions

      8  3 Cell Decomposition Algorithms 3.1 Introduction 3.2 Cell decomposition algorithms 3.3 Implementation and extensions 3.4 Comparative analysis 3.5 Conclusions

      9  4 Discrete Event System Models 4.1 Introduction 4.2 Environment abstraction 4.3 Transition system models 4.4 Petri net models 4.5 Petri nets in resource allocation systems models 4.6 High‐level specifications 4.7 Linear temporal logic 4.8 Conclusions

      10  5 Path Planning by Using Transition System Models 5.1 Introduction 5.2 Two‐step planning for a single robot and reachability specification 5.3 Quantitative comparison of two‐step approaches 5.4 Receding horizon approach for a single robot and reachability specification 5.5 Simulations and analysis 5.6 Path planning with an specification 5.7 Collision avoidance using initial delay 5.8 Conclusions

      11  6 Path and Task Planning Using Petri Net Models 6.1 Introduction 6.2 Boolean‐based specifications for cooperative robots 6.3 LTL specifications for cooperative robots 6.4 A sequencing problem 6.5 Task gathering problem 6.6 Deadlock prevention using resource allocation models 6.7 Conclusions

      12  7 Concluding Remarks

      13  Bibliography

      14  Index

      15  IEEE PRESS SERIESONSYSTEMSSCIENCE AND ENGINEERING

      16  End User License Agreement

      List of Tables

      1 Chapter 3Table 3.1 Properties (on rows) versus cell decomposition types (on columns).Table 3.2 Trends of metrics with respect to the number of obstacles: cost cri...

      2 Chapter 4Table 4.1 Comparison between the discrete formalisms used in multi‐robot path...Table 4.2 Constants, Boolean and temporal operators used to define

formulas....

      3 Chapter 5Table 5.1 Cost and Time Complexity by varying

and

parameters.Table 5.2 Cost and Time Complexity by varying

and

parameters when the fina...Table 5.3 Cost and Time Complexity by varying

for each different cell decomp...Table 5.4 Comparison of the performances by using different Intermediate Traj...

      List of Illustrations

      1 Chapter 1Figure 1.1 Mobile robots and reactive navigation. Example of mobile robots b...Figure