Path Planning of Cooperative Mobile Robots Using Discrete Event Models. Cristian Mahulea
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Elya B. Joffe | Ray Perez | Ahmet Murat Tekalp |
Xiaoou Li | Jeffrey Reed |
Path Planning of Cooperative Mobile Robots Using Discrete Event Models
Cristian Mahulea
University of Zaragoza, Spain
Marius Kloetzer
“Gheorghe Asachi” Technical University of Iasi, Romania
Ramón González
Robonity, Spain
© 2020 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved.
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Published simultaneously in Canada.
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Hardback: 9781119486329
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Foreword
The path planning approach based on Discrete Event System (DES) models is an important – but a challenging – problem. It has been studied for a number of years in the DES community in the field of automated guided vehicle (AGV) systems. In this case, the main issue is to compute collision‐free paths for an AGV from a starting configuration to a goal one. For multi‐agent systems, an additional problem is to avoid deadlocks that could result if waiting modes are introduced. The main solutions obtained are based on the results of deadlock prevention and avoidance from Resource Allocation Systems that allow one to use a DES structure to obtain deadlock‐free trajectories of AGVs. Even if the complexity of these approaches is high, researchers have identified some computationally tractable solutions for some particular classes.
This book is a step forward from the classical AGV navigation problem, by assuming high‐level specifications for a team of cooperative robots. Therefore, the problem is not to reach only some goal configurations,