{"id":"https://openalex.org/W3201718385","doi":"https://doi.org/10.1109/case49439.2021.9551515","title":"Probabilistic Multi-Robot Path Planning with High-Level Specifications using Petri Net Models","display_name":"Probabilistic Multi-Robot Path Planning with High-Level Specifications using Petri Net Models","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3201718385","doi":"https://doi.org/10.1109/case49439.2021.9551515","mag":"3201718385"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010149148","display_name":"Eduardo Montijano","orcid":"https://orcid.org/0000-0002-5176-3767"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]},{"id":"https://openalex.org/I4405260899","display_name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n","ror":"https://ror.org/04eqgej32","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Montijano","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085504277","display_name":"Cristian Mahulea","orcid":"https://orcid.org/0000-0003-0056-2225"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]},{"id":"https://openalex.org/I4405260899","display_name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n","ror":"https://ror.org/04eqgej32","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Cristian Mahulea","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318","https://openalex.org/I4405260899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11125","display_name":"Petri Nets in System Modeling","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7287988066673279},{"id":"https://openalex.org/keywords/petri-net","display_name":"Petri net","score":0.7263035774230957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6767077445983887},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6722151041030884},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.595219612121582},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.581523597240448},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5733233690261841},{"id":"https://openalex.org/keywords/probability-distribution","display_name":"Probability distribution","score":0.5548605918884277},{"id":"https://openalex.org/keywords/stochastic-petri-net","display_name":"Stochastic Petri net","score":0.5315126180648804},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4364440143108368},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3787505626678467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2606433629989624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1525673270225525},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0911562442779541}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7287988066673279},{"id":"https://openalex.org/C38677869","wikidata":"https://www.wikidata.org/wiki/Q724168","display_name":"Petri net","level":2,"score":0.7263035774230957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6767077445983887},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6722151041030884},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.595219612121582},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.581523597240448},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5733233690261841},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.5548605918884277},{"id":"https://openalex.org/C197551870","wikidata":"https://www.wikidata.org/wiki/Q7617809","display_name":"Stochastic Petri net","level":3,"score":0.5315126180648804},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4364440143108368},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3787505626678467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2606433629989624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1525673270225525},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0911562442779541},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49439.2021.9551515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1521785144","https://openalex.org/W1672041297","https://openalex.org/W2044079487","https://openalex.org/W2056864430","https://openalex.org/W2059470663","https://openalex.org/W2061958648","https://openalex.org/W2071797744","https://openalex.org/W2128990851","https://openalex.org/W2235884325","https://openalex.org/W2336416123","https://openalex.org/W2762698157","https://openalex.org/W2905345646","https://openalex.org/W2948430169","https://openalex.org/W2973769628","https://openalex.org/W2998164266","https://openalex.org/W3116200237","https://openalex.org/W3154568753"],"related_works":["https://openalex.org/W1543378523","https://openalex.org/W2016850136","https://openalex.org/W1491709828","https://openalex.org/W2916743419","https://openalex.org/W1557425998","https://openalex.org/W2381491984","https://openalex.org/W1590870019","https://openalex.org/W2257573499","https://openalex.org/W2154785561","https://openalex.org/W1847176793"],"abstract_inverted_index":{"This":[0],"paper":[1,56],"considers":[2],"the":[3,21,37,45,60,67,77,87,101,105,109,112,126,131,136,139,146,157,160,167],"path":[4],"planning":[5,83],"problem":[6,98],"of":[7,23,32,39,41,47,52,69,89,103,111,119,128,130,138,156,159],"a":[8,33,73,82,142],"multi-robot":[9],"system":[10],"in":[11,30,54,141],"an":[12,96],"uncertain":[13],"environment":[14],"with":[15,65,116],"high-level":[16],"specifications.":[17],"The":[18],"specification":[19],"that":[20,59,85,99],"team":[22],"robots":[24,61,147],"has":[25],"to":[26,44,93,124,165],"satisfy":[27],"is":[28],"given":[29],"form":[31],"Boolean":[34],"formula":[35],"over":[36,76],"set":[38],"regions":[40,115],"interest.":[42],"Opposed":[43],"majority":[46],"solutions":[48],"for":[49],"this":[50,55],"type":[51],"problem,":[53],"we":[57],"consider":[58],"do":[62],"not":[63],"know":[64],"precision":[66],"location":[68],"these":[70],"regions,":[71],"having":[72],"probability":[74,102,118,150],"distribution":[75],"labeling":[78],"instead.":[79],"We":[80,133],"present":[81],"algorithm":[84,140],"leverages":[86],"properties":[88],"Petri":[90],"net":[91],"models":[92],"efficiently":[94],"solve":[95],"optimization":[97],"maximizes":[100],"satisfying":[104],"formula.":[106],"In":[107],"addition,":[108],"solution":[110],"optimizer":[113],"avoids":[114],"high":[117],"being":[120],"obstacles":[121],"and":[122,152],"tries":[123],"reduce":[125],"chances":[127],"collisions":[129],"team.":[132,161],"also":[134],"discuss":[135],"application":[137],"distributed":[143],"scenario,":[144],"where":[145],"have":[148],"different":[149],"distributions":[151],"even":[153],"outdated":[154],"locations":[155],"rest":[158],"Simulations":[162],"are":[163],"presented":[164],"validate":[166],"proposed":[168],"methodology.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}