{"id":"https://openalex.org/W2083818207","doi":"https://doi.org/10.1109/cdc.2014.7040192","title":"Planning mobile robots with Boolean-based specifications","display_name":"Planning mobile robots with Boolean-based specifications","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2083818207","doi":"https://doi.org/10.1109/cdc.2014.7040192","mag":"2083818207"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2014.7040192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2014.7040192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"53rd IEEE Conference on Decision and Control","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/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"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Cristian Mahulea","raw_affiliation_strings":["Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain","Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Maria de Luna 1, 50018, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Maria de Luna 1, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046534630","display_name":"Marius Kloetzer","orcid":"https://orcid.org/0000-0003-4338-0421"},"institutions":[{"id":"https://openalex.org/I4210108695","display_name":"Gheorghe Asachi Technical University of Ia\u0219i","ror":"https://ror.org/014zxnz40","country_code":"RO","type":"education","lineage":["https://openalex.org/I4210108695"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Marius Kloetzer","raw_affiliation_strings":["Dept. of Automatic Control and Applied Informatics, Technical University \u201cGheorghe Asachi\u201d of Iasi, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatic Control and Applied Informatics, Technical University \u201cGheorghe Asachi\u201d of Iasi, Romania","institution_ids":["https://openalex.org/I4210108695"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1491","issue":null,"first_page":"5137","last_page":"5142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T11125","display_name":"Petri Nets in System Modeling","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6592633128166199},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6430429816246033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6122353672981262},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.608624279499054},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.6016207337379456},{"id":"https://openalex.org/keywords/petri-net","display_name":"Petri net","score":0.5984045267105103},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5896586775779724},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.5440685749053955},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5369372963905334},{"id":"https://openalex.org/keywords/binary-decision-diagram","display_name":"Binary decision diagram","score":0.5086468458175659},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.474230021238327},{"id":"https://openalex.org/keywords/boolean-data-type","display_name":"Boolean data type","score":0.47123298048973083},{"id":"https://openalex.org/keywords/boolean-function","display_name":"Boolean function","score":0.47104954719543457},{"id":"https://openalex.org/keywords/linear-inequality","display_name":"Linear inequality","score":0.4637404680252075},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.41782325506210327},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3868204653263092},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34106558561325073},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32690131664276123},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3063632845878601},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.222974956035614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1641802191734314},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.09771585464477539}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6592633128166199},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6430429816246033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6122353672981262},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.608624279499054},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.6016207337379456},{"id":"https://openalex.org/C38677869","wikidata":"https://www.wikidata.org/wiki/Q724168","display_name":"Petri net","level":2,"score":0.5984045267105103},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5896586775779724},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.5440685749053955},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5369372963905334},{"id":"https://openalex.org/C3309909","wikidata":"https://www.wikidata.org/wiki/Q864155","display_name":"Binary decision diagram","level":2,"score":0.5086468458175659},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.474230021238327},{"id":"https://openalex.org/C7342684","wikidata":"https://www.wikidata.org/wiki/Q520777","display_name":"Boolean data type","level":2,"score":0.47123298048973083},{"id":"https://openalex.org/C187455244","wikidata":"https://www.wikidata.org/wiki/Q942353","display_name":"Boolean function","level":2,"score":0.47104954719543457},{"id":"https://openalex.org/C84135550","wikidata":"https://www.wikidata.org/wiki/Q3154022","display_name":"Linear inequality","level":3,"score":0.4637404680252075},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.41782325506210327},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3868204653263092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34106558561325073},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32690131664276123},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3063632845878601},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.222974956035614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1641802191734314},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.09771585464477539},{"id":"https://openalex.org/C45555294","wikidata":"https://www.wikidata.org/wiki/Q28113351","display_name":"Inequality","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2014.7040192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2014.7040192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"53rd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.648.2814","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.648.2814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://webdiis.unizar.es/~cmahulea/papers/RR-14-01.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1567452221","https://openalex.org/W1712173076","https://openalex.org/W1972530288","https://openalex.org/W1978778741","https://openalex.org/W1991596047","https://openalex.org/W1996109622","https://openalex.org/W2026750732","https://openalex.org/W2041426923","https://openalex.org/W2064572756","https://openalex.org/W2067638058","https://openalex.org/W2089241508","https://openalex.org/W2114578185","https://openalex.org/W2116647221","https://openalex.org/W2121143180","https://openalex.org/W2140776227","https://openalex.org/W2146826840","https://openalex.org/W2153583758","https://openalex.org/W2166691751","https://openalex.org/W2549082795","https://openalex.org/W4212955077","https://openalex.org/W4251391716","https://openalex.org/W6643357446"],"related_works":["https://openalex.org/W1561652267","https://openalex.org/W2168881618","https://openalex.org/W1536220277","https://openalex.org/W3187430668","https://openalex.org/W2953082439","https://openalex.org/W1995041806","https://openalex.org/W1608751818","https://openalex.org/W1497894850","https://openalex.org/W2071403142","https://openalex.org/W1581080010"],"abstract_inverted_index":{"This":[0,101],"research":[1],"proposes":[2],"an":[3],"automated":[4],"method":[5],"for":[6,31,36,70],"planning":[7],"a":[8,15,65,106],"team":[9,52],"of":[10,23,29,50,57,67,89],"mobile":[11],"robots":[12],"such":[13],"that":[14],"Boolean-based":[16],"mission":[17],"is":[18,62],"accomplished.":[19],"The":[20,59],"specification":[21,61],"consists":[22],"logical":[24],"requirements":[25],"over":[26],"some":[27,71],"regions":[28,56],"interest":[30],"the":[32,47,51,54,74,87,90,118],"agents'":[33],"trajectories":[34,116],"and":[35,53,86],"their":[37],"final":[38],"states.":[39],"A":[40],"Petri":[41],"net":[42],"(PN)":[43],"with":[44,95],"outputs":[45],"models":[46],"movement":[48,76],"capabilities":[49,77],"active":[55],"interest.":[58],"imposed":[60],"translated":[63],"to":[64,104],"set":[66],"linear":[68,81,99],"restrictions":[69],"binary":[72,91],"variables,":[73],"robot":[75],"are":[78,93],"formulated":[79],"as":[80],"constraints":[82],"on":[83],"PN":[84,96],"markings,":[85],"evaluations":[88],"variables":[92],"linked":[94],"markings":[97],"via":[98],"inequalities.":[100],"allows":[102],"us":[103],"solve":[105],"Mixed":[107],"Integer":[108],"Linear":[109],"Programming":[110],"problem":[111],"whose":[112],"solution":[113],"yields":[114],"robotic":[115],"satisfying":[117],"task.":[119]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}