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

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      IEEE Press 445 Hoes Lane Piscataway, NJ 08854

      IEEE Press Editorial Board Ekram Hossain, Editor in Chief

David Alan Grier Andreas Molisch Diomidis Spinellis
Donald Heirman Saeid Nahavandi Sarah Spurgeon
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

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      Published simultaneously in Canada.

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      Hardback: 9781119486329

       To our families

      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,

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