文章基本信息

标题：RMTool: Recent Enhancements * * This work has been partially supported by CICYT - FEDER project DPI2014-57252-R.
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作者：Luis Parrilla ; Cristian Mahulea ; Marius Kloetzer 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：5824-5830
DOI：10.1016/j.ifacol.2017.08.539
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents the enhancements introduced in the second version of RMTool, an open-source Matlab-based interactive software for teaching mobile robotics in introductory courses. In the first version only navigation problem of one robot has been considered (the robot should avoid obstacles and reach a desired position). In the actual version, the toolbox introduces new algorithms to cope with modeling and path planning of multiple identical robots, where the final states of the robots and the regions visited along trajectories should satisfy Linear Temporal Logic (LTL) or Boolean-based formulas. The paper includes extensive simulation results performed in RMTool, pertained to multi-robot path planning based on an LTL or Boolean team specification.
关键词：KeywordsSoftware ToolDiscrete Event SystemsMobile Robots