文章基本信息

标题：Distributed Multirobot Path Planning in Unknown Maps Using Petri Net Models ⁎
本地全文：下载
作者：Cristian Mahulea ; Eduardo Montijano ; Marius Kloetzer 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：2063-2068
DOI：10.1016/j.ifacol.2020.12.2521
语种：English
出版社：Elsevier
摘要：AbstractThis paper considers the path planning problem in multirobot systems with an unknown environment. The robots’ mission is given as a Boolean formula on the final states. We assume that the robots have partial knowledge of the environment and they are able to estimate the environment using a recursive Bayes estimator. Furthermore, they communicate between them if they are at a distance smaller than a given threshold in order to improve their own estimation. Each robot will solve an optimization problem based on the Petri net model of the environment and it will move accordingly. We provide an algorithm to be iterated by each robot and we evaluate the results by simulation.
关键词：Keywordsdiscrete event systemspath planningenvironment estimationmultirobot systems