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

1.2 Autonomous mobile robots. Example of pioneering autonomous mobile...Figure 1.3 Navigation architecture of a mobile robot. Example of a navigatio...Figure 1.4 Path planning methods. Main categories for path planning in mobil...Figure 1.5 Motion control methods. Main categories for motion control in mob...Figure 1.6 Path planning levels. Path planning levels of standard navigation...Figure 1.7 Expressive tasks. Meaning of expressive tasks.

      2 Chapter 2Figure 2.1 Simulators for path planning and motion control. Different simula...Figure 2.2 Main window of Robot Motion Toolbox (RMTool).Figure 2.3 Submenu with information about the configuration of the robot and...Figure 2.4 Robot configurations considered in the RMTool software.Figure 2.5 Pure Pursuit strategy.Figure 2.6 Simulations using different path planning approaches. Examples re...Figure 2.7 Simulations using different motion control approaches. Examples r...Figure 2.8 Examples related to multi‐robot systems and the LTL task by using...Figure 2.9 Examples related to multi‐robot systems and the Boolean task by u...

      3 Chapter 3Figure 3.1 Example of an environment. An environment with three obstacles an...Figure 3.2 Trapezoidal decomposition example. Trapezoidal decomposition (con...Figure 3.3 Problems with the standard Delaunay decomposition. Attempting to ...Figure 3.4 Constraint triangular decomposition. Constrained triangular decom...Figure 3.5 Polytopal decomposition. Polytopal decomposition consisting of 42...Figure 3.6 Rectangular decomposition. Rectangular decomposition (consisting ...Figure 3.7 Triangular decomposition with regions of interest. Triangular par...Figure 3.8 Comparison of cell decomposition approaches. Cell decompositions ...Figure 3.9 Comparison of cell decomposition approaches. Criteria for compari...Figure 3.10 Comparison of cell decomposition approaches. Percentage of small...

      4 Chapter 4Figure 4.1 An example of a discretized environment. A discretized environmen...Figure 4.2 Graph abstraction of an environment. Graph abstraction of the dis...Figure 4.3 Example of a transition system model of a robot. Transition syste...Figure 4.4 Example of a Petri net model of a team of robots. Petri net model...Figure 4.5 Spurious markings in a Petri net system. A small Petri net system...Figure 4.6 Example of a discretized environment and two robots. A discretize...Figure 4.7 Example of an RAS PN model. The RAS PN model of two robots evolvi...Figure 4.8 Examples of Büchi automata corresponding to the LTL formulas give...Figure 4.9 Reduced Büchi automaton. Büchi automaton

form of Figure 4.8(d) ...

      5 Chapter 5Figure 5.1 Path planning using a search on a graph (example generated by usi...Figure 5.2 Number of cells to be traversed versus number of obstacles and gr...Figure 5.3 Computation time for finding waypoints by optimizations (2) to (4...Figure 5.4 Relative increment in length of the obtained trajectory for weigh...Figure 5.5 Relative increment in length of the obtained trajectory for weigh...Figure 5.6 Relative increment in length of the obtained trajectory for waypo...Figure 5.7 Environment used in Example 5.2. If

is too small and the termin...Figure 5.8 Environment of size

. Simulation with a receding horizon strateg...Figure 5.9 Simulation with a receding horizon strategy (

and

). Resulting ...Figure 5.10 Scenario with the final point (blue star on the right) not place...Figure 5.11 Example of a product automaton between the transition system

f...Figure 5.12 A simple environment surrounded by a depot region. A simple envi...Figure 5.13 A more complex environment surrounded by a depot region. A more ...

      6 Chapter 6Figure 6.1 An example of a Boolean specification. The robots are required to...Figure 6.2 Random environment with ten regions of interest and seven robots ...Figure 6.3 Random environment with seven regions of interest and five robots...Figure 6.4 Büchi automaton for the LTL specification

The inputs that enabl...Figure 6.5 Trajectories computed for the LTL specification

The robots sync...Figure 6.6 Trajectories computed for the LTL specification

Other trajector...Figure 6.7 A simple environment to illustrate the sequencing problem. An env...Figure 6.8 RMPN for the team in the environment illustrated in Figure 6.7. T...Figure 6.9 A simple environment to illustrate the task gathering problem. An...Figure 6.10 Environment with three regions of interest sketched using RMTool...Figure 6.11 Example of a RARMPN model. The RARMPN model of two robots evolvi...Figure 6.12 Example of a RARMPN model with a monitor place

. The RARMPN mod...

      Guide

      1  Cover

      2 Table of Contents

      3  Begin Reading

      Pages

      1  ii

      2  iii

      3  iv

      4  v

      5  xi

      6  xii

      7  xiii

      8  xv

      9  xvi

      10  xvii

      11  xix

      12  1

      13  2

      14  3

      15  4

      16  5