A Petri net based approach for multi-robot path planning
Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal p...
Ausführliche Beschreibung
Autor*in: |
Kloetzer, Marius [verfasserIn] |
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Format: |
Artikel |
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Sprache: |
Englisch |
Erschienen: |
2013 |
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Schlagwörter: |
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Anmerkung: |
© Springer Science+Business Media New York 2013 |
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Übergeordnetes Werk: |
Enthalten in: Discrete event dynamic systems - Springer US, 1991, 24(2013), 4 vom: 24. März, Seite 417-445 |
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Übergeordnetes Werk: |
volume:24 ; year:2013 ; number:4 ; day:24 ; month:03 ; pages:417-445 |
Links: |
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DOI / URN: |
10.1007/s10626-013-0162-6 |
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Katalog-ID: |
OLC2027358633 |
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520 | |a Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. | ||
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10.1007/s10626-013-0162-6 doi (DE-627)OLC2027358633 (DE-He213)s10626-013-0162-6-p DE-627 ger DE-627 rakwb eng 510 VZ 17,1 ssgn Kloetzer, Marius verfasserin aut A Petri net based approach for multi-robot path planning 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media New York 2013 Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. Discrete event systems Abstractions Mobile robots Hybrid systems Algorithms Mahulea, Cristian aut Enthalten in Discrete event dynamic systems Springer US, 1991 24(2013), 4 vom: 24. März, Seite 417-445 (DE-627)130988766 (DE-600)1079508-X (DE-576)029154278 0924-6703 nnns volume:24 year:2013 number:4 day:24 month:03 pages:417-445 https://doi.org/10.1007/s10626-013-0162-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT SSG-OPC-MAT GBV_ILN_40 GBV_ILN_70 GBV_ILN_2088 AR 24 2013 4 24 03 417-445 |
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10.1007/s10626-013-0162-6 doi (DE-627)OLC2027358633 (DE-He213)s10626-013-0162-6-p DE-627 ger DE-627 rakwb eng 510 VZ 17,1 ssgn Kloetzer, Marius verfasserin aut A Petri net based approach for multi-robot path planning 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media New York 2013 Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. Discrete event systems Abstractions Mobile robots Hybrid systems Algorithms Mahulea, Cristian aut Enthalten in Discrete event dynamic systems Springer US, 1991 24(2013), 4 vom: 24. März, Seite 417-445 (DE-627)130988766 (DE-600)1079508-X (DE-576)029154278 0924-6703 nnns volume:24 year:2013 number:4 day:24 month:03 pages:417-445 https://doi.org/10.1007/s10626-013-0162-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT SSG-OPC-MAT GBV_ILN_40 GBV_ILN_70 GBV_ILN_2088 AR 24 2013 4 24 03 417-445 |
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10.1007/s10626-013-0162-6 doi (DE-627)OLC2027358633 (DE-He213)s10626-013-0162-6-p DE-627 ger DE-627 rakwb eng 510 VZ 17,1 ssgn Kloetzer, Marius verfasserin aut A Petri net based approach for multi-robot path planning 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media New York 2013 Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. Discrete event systems Abstractions Mobile robots Hybrid systems Algorithms Mahulea, Cristian aut Enthalten in Discrete event dynamic systems Springer US, 1991 24(2013), 4 vom: 24. März, Seite 417-445 (DE-627)130988766 (DE-600)1079508-X (DE-576)029154278 0924-6703 nnns volume:24 year:2013 number:4 day:24 month:03 pages:417-445 https://doi.org/10.1007/s10626-013-0162-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT SSG-OPC-MAT GBV_ILN_40 GBV_ILN_70 GBV_ILN_2088 AR 24 2013 4 24 03 417-445 |
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10.1007/s10626-013-0162-6 doi (DE-627)OLC2027358633 (DE-He213)s10626-013-0162-6-p DE-627 ger DE-627 rakwb eng 510 VZ 17,1 ssgn Kloetzer, Marius verfasserin aut A Petri net based approach for multi-robot path planning 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media New York 2013 Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. Discrete event systems Abstractions Mobile robots Hybrid systems Algorithms Mahulea, Cristian aut Enthalten in Discrete event dynamic systems Springer US, 1991 24(2013), 4 vom: 24. März, Seite 417-445 (DE-627)130988766 (DE-600)1079508-X (DE-576)029154278 0924-6703 nnns volume:24 year:2013 number:4 day:24 month:03 pages:417-445 https://doi.org/10.1007/s10626-013-0162-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT SSG-OPC-MAT GBV_ILN_40 GBV_ILN_70 GBV_ILN_2088 AR 24 2013 4 24 03 417-445 |
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Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. © Springer Science+Business Media New York 2013 |
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Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. © Springer Science+Business Media New York 2013 |
abstract_unstemmed |
Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. The proposed probabilistic framework may prove suitable for controlling mobile robots based on more complex specifications. © Springer Science+Business Media New York 2013 |
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<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">OLC2027358633</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230503041358.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">200819s2013 xx ||||| 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s10626-013-0162-6</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC2027358633</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-He213)s10626-013-0162-6-p</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">510</subfield><subfield code="q">VZ</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">17,1</subfield><subfield code="2">ssgn</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Kloetzer, Marius</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">A Petri net based approach for multi-robot path planning</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2013</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© Springer Science+Business Media New York 2013</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract This paper presents a procedure for creating a probabilistic finite-state model for mobile robots and for finding a sequence of controllers ensuring the highest probability for reaching some desired regions. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite-state representation with history-based probabilities on transitions. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a set of target regions is found. An online supervising procedure updates the paths whenever a robot deviates from the intended trajectory. 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