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Path and Task Planning Using Petri Net Models
Cristian Mahulea (Universidad de Zaragoza), Marius Kloetzer (Gheorghe Asachi Technical University of Iași), Ramón González
Abstract: This chapter is devoted to solving some planning problems with the aid of a Petri net model for the robotic team. After recalling some general assumptions, we detail the solution for planning a team based on a Boolean-based specification. Then, a different method is presented for the case of missions expressed as LTL−x formulas, simply denoted by LTL. Both these planning methods allow global tasks for the whole team, given as expressions in Boolean or LTL formalism. The rest of the chapter focuses on some methods for planning the team in case of more specific requirements, namely an assembly-inspired requirement and a task gathering problem. All the algorithmic solutions belong to mathematical programming, since each problem together with its Petri net model is translated into a different formulation of a (mixed integer) linear programming optimization. After the path planning procedures, the chapter discusses a deadlock prevention strategy based on a resource allocation Petri net model.