Robotics and Autonomous Systems最新文献_第8页

Collision prediction using plan learning in mixed human–robot work cells 基于计划学习的人-机器人混合工作单元碰撞预测

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-11 DOI: 10.1016/j.robot.2025.105292

Luca Geretti , Stefano Centomo , Michele Boldo , Enrico Martini , Nicola Bombieri , Davide Quaglia , Tiziano Villa

{"title":"Collision prediction using plan learning in mixed human–robot work cells","authors":"Luca Geretti , Stefano Centomo , Michele Boldo , Enrico Martini , Nicola Bombieri , Davide Quaglia , Tiziano Villa","doi":"10.1016/j.robot.2025.105292","DOIUrl":"10.1016/j.robot.2025.105292","url":null,"abstract":"<div><div>In mixed human–robot work cells the emphasis is traditionally on collision avoidance to circumvent injuries and production down times. In this paper we discuss how long in advance a collision can be predicted given the behavior of a robotic arm and the current occupancy of both the robot and the human. The behavior of the robot is a sequence of predefined operations that constitute its plan, each one with a given trajectory. However, we do not know the exact trajectory or the plan a priori. Under the assumption that the plan has a cyclic character, we propose an approach to learn it in real time from state samples and use the resulting model to estimate the time before a collision. The pose of the human is obtained by a multi-camera inference application based on neural networks at the edge to preserve privacy and enforce scalability. The occupancy of the manipulator and of the human are modeled through the composition of segments which overcomes the traditional “virtual cage” and can be adapted to different human beings and robots. The system has been implemented in a real factory scenario to demonstrate its readiness regarding both industrial constraints and computational complexity.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105292"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145738063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Pseudo-kinematic trajectory control and planning of tracked vehicles 履带车辆伪运动学轨迹控制与规划

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-06 DOI: 10.1016/j.robot.2025.105282

Michele Focchi , Daniele Fontanelli , Davide Stocco , Riccardo Bussola , Luigi Palopoli

{"title":"Pseudo-kinematic trajectory control and planning of tracked vehicles","authors":"Michele Focchi , Daniele Fontanelli , Davide Stocco , Riccardo Bussola , Luigi Palopoli","doi":"10.1016/j.robot.2025.105282","DOIUrl":"10.1016/j.robot.2025.105282","url":null,"abstract":"<div><div>Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective, however, this flexibility comes at a cost: the complexity of modeling the system and the resulting difficulty in designing theoretically sound navigation solutions. In this paper, we aim to bridge this gap by proposing a framework for the navigation of tracked vehicles, built upon three key pillars. The first pillar comprises two models: a simulation model and a control-oriented model. The simulation model captures the intricate terramechanics dynamics arising from soil–track interaction and is employed to develop faithful digital twins of the system across a wide range of operating conditions. The control-oriented model is pseudo-kinematic and mathematically tractable, enabling the design of efficient and theoretically robust control schemes. The second pillar is a Lyapunov-based feedback trajectory controller that provides certifiable tracking guarantees. The third pillar is a portfolio of motion planning solutions, each offering different complexity-accuracy trade-offs. The various components of the proposed approach are validated through extensive simulations and experimental evaluations on two different robotic platforms, namely the MAXXII and the LIMO robots.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105282"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145738059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Many-objective-optimized semi-automated robotic disassembly sequences 多目标优化半自动机器人拆卸序列

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-15 DOI: 10.1016/j.robot.2025.105301

Takuya Kiyokawa , Kensuke Harada , Weiwei Wan , Tomoki Ishikura , Naoya Miyaji , Genichiro Matsuda

{"title":"Many-objective-optimized semi-automated robotic disassembly sequences","authors":"Takuya Kiyokawa , Kensuke Harada , Weiwei Wan , Tomoki Ishikura , Naoya Miyaji , Genichiro Matsuda","doi":"10.1016/j.robot.2025.105301","DOIUrl":"10.1016/j.robot.2025.105301","url":null,"abstract":"<div><div>This study tackles the problem of many-objective sequence optimization for semi-automated robotic disassembly operations. To this end, we employ a many-objective genetic algorithm (MaOGA) inspired by the non-dominated sorting genetic algorithm (NSGA)-III, along with robotic-disassembly-oriented constraints and objective functions derived from geometrical and robot simulations using three-dimensional (3D) geometrical information stored in a 3D computer-aided design (CAD) model of the target product. The MaOGA begins by generating a set of initial chromosomes based on a contact and connection graph (CCG), rather than random chromosomes, to avoid falling into a local minimum and yield repeatable convergence. The optimization imposes constraints on feasibility and stability as well as objective functions regarding difficulty, efficiency, prioritization, and allocability to generate a sequence that satisfies many preferred conditions under mandatory requirements for semi-automated robotic disassembly. The NSGA-III-inspired MaOGA also utilizes non-dominated sorting and niching with reference lines to further encourage steady and stable exploration and uniformly lower the overall evaluation values. Our sequence generation experiments for a complex product (36 parts) demonstrated that the proposed method can consistently produce feasible and stable sequences with a 100% success rate, bringing the multiple preferred conditions closer to the optimal solution required for semi-automated robotic disassembly operations.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105301"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145790307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Energy harvesting aware path planning for ambiently-powered multi-robot systems 环境动力多机器人系统能量收集感知路径规划

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-02 DOI: 10.1016/j.robot.2025.105260

Mohmmadsadegh Mokhtari , Bram Vanderborght , Jeroen Famaey

{"title":"Energy harvesting aware path planning for ambiently-powered multi-robot systems","authors":"Mohmmadsadegh Mokhtari , Bram Vanderborght , Jeroen Famaey","doi":"10.1016/j.robot.2025.105260","DOIUrl":"10.1016/j.robot.2025.105260","url":null,"abstract":"<div><div>Autonomous multi-robot systems are increasingly deployed in energy-variable environments where sustained operation depends on efficient energy harvesting. Traditional path-planning methods overlook ambient energy variability and inter-robot coordination, reducing overall efficiency. This paper introduces Hierarchically Conditioned Multi-Agent Reinforcement Learning with Meta-Differential Evolution (H-CMARL-DE) for energy harvesting-aware multi-robot path planning. The method centralizes only meta-level parameters priority order, shaping weights, and subgoal settings, while policy learning and execution remain decentralized, ensuring scalability and safety. Implemented in ROS–Gazebo, the system operates in a closed-loop observe–plan–act cycle, enabling robots to coordinate via hierarchical time–space reservations while adapting to dynamic obstacles and energy fields. Simulations demonstrate up to 240% improvement in energy-harvesting efficiency with minimal increase in path length compared to non-energy-harvesting-aware approaches, confirming H-CMARL-DE’s robustness and adaptability for long-term cooperative operation in resource-constrained environments.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105260"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fast analytical path planning method for mill reline manipulator in confined environment 受限环境下磨线机械臂快速解析路径规划方法

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-11-29 DOI: 10.1016/j.robot.2025.105266

Mingyuan Wang , Yujun Xue , Jishun Li , Shuai Li , Yunhua Bai

{"title":"Fast analytical path planning method for mill reline manipulator in confined environment","authors":"Mingyuan Wang , Yujun Xue , Jishun Li , Shuai Li , Yunhua Bai","doi":"10.1016/j.robot.2025.105266","DOIUrl":"10.1016/j.robot.2025.105266","url":null,"abstract":"<div><div>Currently, few studies focus on the mill reline manipulator’s path planning, which is a special industrial equipment working inside grinding mill. Based on the geometric analysis and space vector method, this paper proposed a fast analytical path planning method (FAPP) for mill reline manipulator in confined environment. First, the signed distance field and sparse check points are designed for collision detection. Second, the quintic polynomial function is introduced to obtain the path pre-planning sequence. Third, to adjust the collision-containing path sequence, three collision avoidance strategies are proposed to calculate the analytical collision-free paths. Furthermore, the sample dataset is also established according to the distribution of liner installation. Effectiveness, comparison, and robustness experiments are carried out to verify the superiority of the proposed method. In terms of computational efficiency, energy cost, and motion smoothness, the proposed FAPP achieves outstanding performance and can be further improved even under non-ideal conditions.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105266"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145646036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Elevating priorities for an efficient and complete lifelong multi-AGV pathfinding on roadmaps 提升优先级的有效和完整的终身多agv寻路地图

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-15 DOI: 10.1016/j.robot.2025.105295

Gregor Klančar , Matevž Bošnak , Viktor Zaletelj , Rok Vrabič , Andrej Zdešar

{"title":"Elevating priorities for an efficient and complete lifelong multi-AGV pathfinding on roadmaps","authors":"Gregor Klančar , Matevž Bošnak , Viktor Zaletelj , Rok Vrabič , Andrej Zdešar","doi":"10.1016/j.robot.2025.105295","DOIUrl":"10.1016/j.robot.2025.105295","url":null,"abstract":"<div><div>This paper introduces a novel approach to Multi-Agent Pathfinding (MAPF) applicable to fleet management system with Automated Guided Vehicles (AGV) or autonomous mobile robots in warehouses or production. It applies Safe Interval Path Planning (SIPP) algorithm with priorities and proposes enhancements to address the inherent suboptimality of the algorithm. The key innovation is the incorporation of a safe location mechanism and an efficient conflict resolution strategy into a prioritized lifelong MAPF framework. Safe locations ensure completeness for lifelong operation with unknown future tasks, and contribute to efficiency by eliminating the need for extensive replanning. Conflict resolution is achieved through an occupancy interval intersection test, enhanced with safety margins to enable computationally efficient, conflict-free planning. Notably, the planner operates in a continuous environment, allowing graph edges to be of arbitrary length and shape, while actions can span arbitrary durations. Furthermore, the framework accommodates agents with different sizes and travel velocities. To enhance practicality, the paper introduces various operation modes, including one-shot planning, prescribed arrival orders for assembly tasks, pick-and-drop tasks and composite tasks with customizable station features such as waiting time and parking. For lifelong operations, the safe locations are introduced, that allow for both complete planning and providing temporal storage for complex tasks. The proposed planner is validated through extensive testing on both one-shot tasks and lifelong operations. Comparative analyses with a state-of-the-art optimal planner reveal that the algorithm achieves close to optimal, and sometimes improved performance in lifelong mode with significantly lower computational complexity and a higher success rate.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105295"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145790306","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-robot smooth path planning considering local motion control based on TEB-VO 基于TEB-VO局部运动控制的多机器人平滑路径规划

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-15 DOI: 10.1016/j.robot.2025.105304

Liming Wang , Wen Ma , Gedong Jiang , Chaoqing Min , Nuogang Sun , Xuesong Mei

{"title":"Multi-robot smooth path planning considering local motion control based on TEB-VO","authors":"Liming Wang , Wen Ma , Gedong Jiang , Chaoqing Min , Nuogang Sun , Xuesong Mei","doi":"10.1016/j.robot.2025.105304","DOIUrl":"10.1016/j.robot.2025.105304","url":null,"abstract":"<div><div>Current global multi-robot path planning methods generally assume that agents strictly follow the planned paths during execution. However, factors such as slippage, delays, path deviations, and speed or acceleration constraints prevent robots from accurately following these paths, potentially leading to deadlocks or new conflicts. To address the issue of poor path feasibility in current multi-robot path planning methods, this paper proposes an integrated global path planning and local motion control algorithm for multi-robot, which considers both global optimal path planning and local flexible motion control. First, for global path planning, an improved SH-FEECBS (Smooth Heuristic Flexible Explicit Estimation Conflict-Based Search) method is introduced to reduce the number of turns and enhance path smoothness, thereby lowering the corrective burden on the subsequent local controller. Second, for local motion control, the TEB-VO (Time-Elastic Band Velocity Obstacle) method is proposed, integrating the velocity obstacle method to enable flexible robot control to provide constraint-aware, real-time avoidance and robust tracking. A series of experiments were designed and conducted to evaluate the performance of the proposed global path planning algorithm, local motion control algorithm, and their integrated approach in multi-robot path planning. The results show measurable gains which is SH-FEECBS improves path smoothness by 5 % and has fewer turns, TEB-VO increases the minimum safety distance by 10 %, and the integrated system enhances average-speed consistency by 20 %. Experimental results demonstrate that the proposed path planning and motion control methods outperform traditional approaches in terms of smoothness, obstacle avoidance, and dynamic motion control performance, effectively improving the operational efficiency and stability of multi-robot systems.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105304"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840374","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A shape prediction method for deformable linear object with natural curvature 具有自然曲率的可变形线性物体的形状预测方法

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-15 DOI: 10.1016/j.robot.2025.105302

Hang Zhou , Qi Lu , Jinwu Qian

{"title":"A shape prediction method for deformable linear object with natural curvature","authors":"Hang Zhou , Qi Lu , Jinwu Qian","doi":"10.1016/j.robot.2025.105302","DOIUrl":"10.1016/j.robot.2025.105302","url":null,"abstract":"<div><div>Accurately predicting the shapes of Deformable Linear Object (DLO) is essential for enhancing robotic manipulation tasks, particularly when DLO exhibits non-zero natural curvature. Natural curvature describes the intrinsic rest configuration of a DLO in the absence of external forces and includes both curvature and torsion. Misidentifying these properties can severely degrade model accuracy. In this paper, we propose a method for predicting the shape of DLO that estimates the equivalent Young’s modulus <span><math><msub><mrow><mi>Y</mi></mrow><mrow><mi>e</mi></mrow></msub></math></span> and natural curvature, using the Discrete Elastic Rod (DER) physical model. This approach eliminates the need for manually measuring material properties. The process starts with acquiring a smoothed point cloud of the DLO. Then, an optimization technique is used to identify <span><math><msub><mrow><mi>Y</mi></mrow><mrow><mi>e</mi></mrow></msub></math></span> and the natural curvature, which are input into the DER model to minimize discrepancies between the predicted and observed DLO shapes. Testing with both synthetic datasets and real-world DLO data demonstrates the accuracy and robustness of our method. This approach can be integrated into DLO manipulation workflows, enhancing the predictive accuracy of the model.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105302"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145790305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Efficient iterative proximal variational inference motion planning 高效迭代近变分推理运动规划

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-04 DOI: 10.1016/j.robot.2025.105267

Zinuo Chang , Hongzhe Yu , Patricio Vela , Yongxin Chen

{"title":"Efficient iterative proximal variational inference motion planning","authors":"Zinuo Chang , Hongzhe Yu , Patricio Vela , Yongxin Chen","doi":"10.1016/j.robot.2025.105267","DOIUrl":"10.1016/j.robot.2025.105267","url":null,"abstract":"<div><div>We cast motion planning under uncertainty as a stochastic optimal control problem, where the optimal posterior distribution has an explicit form. To approximate this posterior, this work frames an optimization problem in the space of Gaussian distributions by solving a Variational Inference (VI) in the path distribution space. For linear-Gaussian stochastic dynamics, a proximal algorithm is proposed to solve for an optimal Gaussian proposal iteratively. The computational bottleneck is evaluating the gradients with respect to the proposal over a dense trajectory. To tackle this issue, the sparse planning factor graph and Gaussian Belief Propagation (GBP) are exploited, allowing for parallel computation of these gradients on Graphics Processing Units (GPUs). We term the novel paradigm the <em>Parallel Gaussian Variational Inference Motion Planning (P-GVIMP)</em>. Building on the efficient algorithm for linear Gaussian systems, we then propose an iterative paradigm based on Statistical Linear Regression (SLR) techniques to solve planning problems for nonlinear stochastic systems, where the P-GVIMP serves as a sub-routine for the linearized time-varying system at each iteration. The proposed framework is validated on various robotic systems, demonstrating significant speed acceleration achieved by leveraging parallel computation and successful planning solutions for nonlinear systems under uncertainty. An open-sourced implementation is presented at <span><span>https://github.com/hzyu17/VIMP</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105267"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-robot motion planning based on Nets-within-Nets modeling and simulation 基于Nets-within-Nets建模与仿真的多机器人运动规划

IF 5.2 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2026-03-01 Epub Date: 2025-12-08 DOI: 10.1016/j.robot.2025.105287

Sofia Hustiu , Joaquín Ezpeleta , Cristian Mahulea , Marius Kloetzer

{"title":"Multi-robot motion planning based on Nets-within-Nets modeling and simulation","authors":"Sofia Hustiu , Joaquín Ezpeleta , Cristian Mahulea , Marius Kloetzer","doi":"10.1016/j.robot.2025.105287","DOIUrl":"10.1016/j.robot.2025.105287","url":null,"abstract":"<div><div>This paper focuses on designing motion plans for a heterogeneous team of robots that must cooperate to fulfill a global mission. Robots move in an environment that contains some regions of interest, while the specification for the entire team can include avoidance, visits, or sequencing of these regions of interest. The mission is expressed in terms of a Petri net corresponding to an automaton, while each robot is also modeled by a state machine Petri net. The current work brings about the following contributions with respect to existing solutions for related problems. First, we propose a novel model, denoted <em>High-Level robot team Petri Net</em> (HLrtPN) system, to incorporate the specification and robot models into the Nets-within-Nets paradigm. A guard function, named <em>Global Enabling Function</em>, is designed to synchronize the firing of transitions so that robot motions do not violate the specification. Then, the solution is found by simulating the HLrtPN system in a specific software tool that accommodates Nets-within-Nets. Illustrative examples based on Linear Temporal Logic missions support the computational feasibility of the proposed framework.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"197 ","pages":"Article 105287"},"PeriodicalIF":5.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145737594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0