Читать книгу Path Planning of Cooperative Mobile Robots Using Discrete Event Models - Cristian Mahulea - Страница 2

1  Cover

2  Foreword

3  Preface

4  Acknowledgments

5  Acronyms

6  Chapter 1: Introduction 1.1 Historical perspective of mobile robotics 1.2 Path planning. Definition and historical background 1.3 Motion control. Definition and historical background 1.4 Motivation for expressive tasks 1.5 Assumptions of this monograph 1.6 Outline of this monograph

7  2 Robot Motion Toolbox 2.1 Introduction 2.2 General description of the simulator 2.3 Path planning algorithms 2.4 Robot kinematic models 2.5 Motion control algorithms 2.6 Illustrative examples 2.7 Conclusions

8  3 Cell Decomposition Algorithms 3.1 Introduction 3.2 Cell decomposition algorithms 3.3 Implementation and extensions 3.4 Comparative analysis 3.5 Conclusions

9  4 Discrete Event System Models 4.1 Introduction 4.2 Environment abstraction 4.3 Transition system models 4.4 Petri net models 4.5 Petri nets in resource allocation systems models 4.6 High‐level specifications 4.7 Linear temporal logic 4.8 Conclusions

10  5 Path Planning by Using Transition System Models 5.1 Introduction 5.2 Two‐step planning for a single robot and reachability specification 5.3 Quantitative comparison of two‐step approaches 5.4 Receding horizon approach for a single robot and reachability specification 5.5 Simulations and analysis 5.6 Path planning with an specification 5.7 Collision avoidance using initial delay 5.8 Conclusions

11  6 Path and Task Planning Using Petri Net Models 6.1 Introduction 6.2 Boolean‐based specifications for cooperative robots 6.3 LTL specifications for cooperative robots 6.4 A sequencing problem 6.5 Task gathering problem 6.6 Deadlock prevention using resource allocation models 6.7 Conclusions

12  7 Concluding Remarks

13  Bibliography

14  Index

15  IEEE PRESS SERIESONSYSTEMSSCIENCE AND ENGINEERING

16  End User License Agreement