Path Planning of Cooperative Mobile Robots Using Discrete Event Models

Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles

Generating feasible paths or routes between a given starting position and a goal or target position--while avoiding obstacles--is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models--mainly Finite State Automata (FSA) and Petri Nets (PN)--and methods for centralized path planning and control of teams of identical mobile robots.

Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions.

Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also:

• Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms
• Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox)
• Includes simulations for problems solved by methodologies presented in the book

Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

本書提供了一個整合的演示，使用離散事件系統原則來進行合作移動機器人的路徑規劃和運動控制。

對於所有移動機器人來說，生成從給定的起始位置到目標位置的可行路徑或路線，同時避開障礙物，是一個常見的問題。本書通過使用離散事件系統的範式，將合作移動機器人的路徑規劃問題進行了形式化。它介紹了讀者需要了解的關於離散事件系統模型的一切，主要是有限狀態自動機（FSA）和Petri網（PN），以及用於中央化路徑規劃和控制相同移動機器人團隊的方法。

《使用離散事件模型的合作移動機器人路徑規劃》首先簡要定義了路徑規劃和運動控制問題及其現狀。然後介紹了不同類型的離散模型，如FSA和PN。接著介紹了RMTool MATLAB工具箱，供讀者在最後一節中進行數值實驗時使用。本書還討論了單元分解方法，並展示了如何通過為每個單元分配一個離散狀態，將分割的環境轉化為FSA，而相鄰關係以及機器人的動態則意味著離散轉換。

本書強調布爾邏輯、線性時間邏輯、單元分解、有限狀態自動機建模和Petri網的優點，同時還：

- 合成基於離散事件系統（DES）的自動策略，用於路徑規劃和運動控制，並提供了相關算法的軟件實現
- 為運動規劃入門課程或相關基於仿真的項目提供了一個使用MATLAB包RMTool（機器人運動工具箱）的教程
- 包含了使用本書中介紹的方法解決的問題的模擬

《使用離散事件模型的合作移動機器人路徑規劃》是一本理想的書籍，適用於機器人學、人工智能、系統建模和自主控制等領域的本科生、研究生和大學教授。

CRISTIAN MAHULEA, PHD, has participated in the development and implementation of Petri Net Toolbox and SimHPN, two MATLAB software for simulation, analysis and synthesis of discrete-event systems modeled with Petri Nets. His research interests include discrete event systems, hybrid systems, automated manufacturing, Petri nets, mobile robotics and healthcare systems. He participated in the development of RMTool, a collection of tools for modeling, path planning and motion control of mobile robots.

MARIUS KLOETZER, PHD, developed two laboratory robotic platforms (at Boston University, USA, and at Technical University of Iasi, Romania) for facilitating real time experiments based on the proposed formal solutions. He is also participating in the development and extension of RMTool software package. His research interests include planning of mobile robots based on discrete abstractions and expressive specifications.

RAMÓN GONZÁLEZ, PHD, is the founder and CEO of robonity, an MIT innovation-driven startup. Ramon is an authority on robotics and engineering whose skills have been demonstrated in some of the most important engineering centers in the world including a 3-year research position at the MIT Robotic Mobility Group. He has received several awards including the Medal of the Royal Academy of Engineering of Spain and the Medal of Andalucia (first in history to an engineer in robotics). He holds a PhD in robotics and an engineering degree in computer science by the University of Almeria (Spain) and a certificate in accounting and finance by the Imperial College Business School (UK).

CRISTIAN MAHULEA, PHD，參與了 Petri Net Toolbox 和 SimHPN 的開發和實施，這兩個 MATLAB 軟體用於模擬、分析和合成用 Petri 網絡建模的離散事件系統。他的研究興趣包括離散事件系統、混合系統、自動化製造、Petri 網絡、移動機器人和醫療系統。他參與了 RMTool 的開發，這是一個用於建模、路徑規劃和移動機器人運動控制的工具集。

MARIUS KLOETZER, PHD，在波士頓大學（美國）和雅西技術大學（羅馬尼亞）開發了兩個實驗室機器人平台，用於基於提出的形式解決方案進行實時實驗。他還參與了 RMTool 軟體包的開發和擴展。他的研究興趣包括基於離散抽象和表達式規劃移動機器人。

RAMÓN GONZÁLEZ, PHD，是 robonity 的創始人兼首席執行官，這是一家以 MIT 創新為驅動的初創企業。Ramon 是機器人和工程領域的權威，他的技能在世界上一些最重要的工程中心得到了證明，包括在 MIT 機器人移動性小組擔任三年的研究職位。他獲得了多個獎項，包括西班牙皇家工程學院的勳章和安達盧西亞勳章（機器人工程師史上首次獲得）。他擁有阿爾梅里亞大學（西班牙）的機器人學博士學位和計算機科學工程學位，以及英國帝國學院商學院的會計和金融證書。