{"id":"https://openalex.org/W4379780965","doi":"https://doi.org/10.1109/lcsys.2023.3284200","title":"Security-Preserving Multi-Robot Path Planning for Boolean Specification Tasks Using Labeled Petri Nets","display_name":"Security-Preserving Multi-Robot Path Planning for Boolean Specification Tasks Using Labeled Petri Nets","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4379780965","doi":"https://doi.org/10.1109/lcsys.2023.3284200"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2023.3284200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3284200","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"article","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/A5079866553","display_name":"Weijie Shi","orcid":"https://orcid.org/0000-0003-3105-5357"},"institutions":[{"id":"https://openalex.org/I51622183","display_name":"Shaanxi University of Science and Technology","ror":"https://ror.org/034t3zs45","country_code":"CN","type":"education","lineage":["https://openalex.org/I51622183"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weijie Shi","raw_affiliation_strings":["School of Electro-Mechanical Engineering, Shaanxi University of Science and Technology, Xi&#x2019;an, China"],"affiliations":[{"raw_affiliation_string":"School of Electro-Mechanical Engineering, Shaanxi University of Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I51622183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101655522","display_name":"Zhou He","orcid":"https://orcid.org/0000-0003-2486-1246"},"institutions":[{"id":"https://openalex.org/I51622183","display_name":"Shaanxi University of Science and Technology","ror":"https://ror.org/034t3zs45","country_code":"CN","type":"education","lineage":["https://openalex.org/I51622183"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhou He","raw_affiliation_strings":["School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi&#x2019;an, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I51622183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030774236","display_name":"Ziyue Ma","orcid":"https://orcid.org/0000-0001-5787-5738"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyue Ma","raw_affiliation_strings":["School of Electro-Mechanical Engineering, Xidian University, Xi&#x2019;an, China"],"affiliations":[{"raw_affiliation_string":"School of Electro-Mechanical Engineering, Xidian University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000666025","display_name":"Ning Ran","orcid":"https://orcid.org/0000-0002-5097-7173"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ning Ran","raw_affiliation_strings":["College of Electronic and Information Engineering, Heibei University, Baoding, China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Heibei University, Baoding, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034304769","display_name":"Xiang Yin","orcid":"https://orcid.org/0000-0003-1944-1570"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Yin","raw_affiliation_strings":["Department of Automation and Key Laboratory of System Control and Information Processing, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Key Laboratory of System Control and Information Processing, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5079866553"],"corresponding_institution_ids":["https://openalex.org/I51622183"],"apc_list":null,"apc_paid":null,"fwci":1.2299,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.81305091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"7","issue":null,"first_page":"2017","last_page":"2022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9986000061035156,"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":0.9980999827384949,"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":0.7586604356765747},{"id":"https://openalex.org/keywords/petri-net","display_name":"Petri net","score":0.6791471242904663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6592995524406433},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5891146659851074},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5424367785453796},{"id":"https://openalex.org/keywords/negation","display_name":"Negation","score":0.5178290009498596},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4899370074272156},{"id":"https://openalex.org/keywords/boolean-expression","display_name":"Boolean expression","score":0.4799266457557678},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45620107650756836},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.4512929916381836},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.44811680912971497},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4244946837425232},{"id":"https://openalex.org/keywords/boolean-function","display_name":"Boolean function","score":0.4079420566558838},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34384849667549133},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3379662036895752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3323051333427429},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.284399151802063},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.26581573486328125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1704884171485901}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7586604356765747},{"id":"https://openalex.org/C38677869","wikidata":"https://www.wikidata.org/wiki/Q724168","display_name":"Petri net","level":2,"score":0.6791471242904663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6592995524406433},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5891146659851074},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5424367785453796},{"id":"https://openalex.org/C2185349","wikidata":"https://www.wikidata.org/wiki/Q190558","display_name":"Negation","level":2,"score":0.5178290009498596},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4899370074272156},{"id":"https://openalex.org/C158465420","wikidata":"https://www.wikidata.org/wiki/Q1979515","display_name":"Boolean expression","level":3,"score":0.4799266457557678},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45620107650756836},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.4512929916381836},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.44811680912971497},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4244946837425232},{"id":"https://openalex.org/C187455244","wikidata":"https://www.wikidata.org/wiki/Q942353","display_name":"Boolean function","level":2,"score":0.4079420566558838},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34384849667549133},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3379662036895752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3323051333427429},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.284399151802063},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.26581573486328125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1704884171485901},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2023.3284200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3284200","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G1177654243","display_name":null,"funder_award_id":"2023-JC-YB-564","funder_id":"https://openalex.org/F4320324173","funder_display_name":"Natural Science Foundation of Shaanxi Province"},{"id":"https://openalex.org/G210139373","display_name":null,"funder_award_id":"62061136004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2362969681","display_name":null,"funder_award_id":"61803246","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2406404484","display_name":null,"funder_award_id":"2019M663608","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4116873045","display_name":null,"funder_award_id":"2022JM-323","funder_id":"https://openalex.org/F4320324173","funder_display_name":"Natural Science Foundation of Shaanxi Province"},{"id":"https://openalex.org/G6629803254","display_name":null,"funder_award_id":"ZYTS23023","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8600200292","display_name":null,"funder_award_id":"61903119","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320324173","display_name":"Natural Science Foundation of Shaanxi Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2073108636","https://openalex.org/W2762698157","https://openalex.org/W2787583263","https://openalex.org/W2800404248","https://openalex.org/W2809458627","https://openalex.org/W2883844343","https://openalex.org/W2970557498","https://openalex.org/W2994583186","https://openalex.org/W2998164266","https://openalex.org/W3040817486","https://openalex.org/W3115341706","https://openalex.org/W3119785025","https://openalex.org/W3135798356","https://openalex.org/W3154568753","https://openalex.org/W3186042173","https://openalex.org/W4221021751","https://openalex.org/W4226019470","https://openalex.org/W4284882769","https://openalex.org/W4313201637","https://openalex.org/W4313595133"],"related_works":["https://openalex.org/W2109998394","https://openalex.org/W4252281389","https://openalex.org/W2107037376","https://openalex.org/W2058288504","https://openalex.org/W2516690985","https://openalex.org/W2133491672","https://openalex.org/W1996276855","https://openalex.org/W2187008505","https://openalex.org/W2062972911","https://openalex.org/W2037737738"],"abstract_inverted_index":{"This":[0],"letter":[1],"investigates":[2],"the":[3,22,50,71,76,100,104,125,131,139,142],"path":[4,44],"planning":[5],"of":[6,24,79,82,103,133,141],"multi-robot":[7,105],"systems":[8],"for":[9,45,58],"high-level":[10],"tasks":[11,51],"described":[12],"by":[13,33],"Boolean":[14,126],"specifications":[15],"and":[16,30,56,60],"security":[17,67],"constraints.":[18],"We":[19],"assume":[20],"that":[21,49,70,124],"behavior":[23],"each":[25,46],"robot":[26,47],"can":[27],"be":[28],"identified":[29],"partially":[31],"monitored":[32],"a":[34,80],"passive":[35],"intruder.":[36],"The":[37,66],"problem":[38,112],"aims":[39],"to":[40,89,98,115],"plan":[41],"an":[42,108,117],"optimal":[43,118],"such":[48,123],"expressed":[52],"in":[53],"conjunction,":[54],"disjunction,":[55],"negation":[57],"trajectories":[59],"final":[61,77],"states":[62],"are":[63,96,136],"coordinately":[64],"completed.":[65],"constraints":[68],"require":[69],"intruder":[72],"should":[73],"never":[74],"infer":[75],"locations":[78],"set":[81],"robots":[83,135],"called":[84],"secret":[85,134],"robots.":[86],"In":[87],"order":[88],"solve":[90],"this":[91],"problem,":[92],"labeled":[93],"Petri":[94],"nets":[95],"adopted":[97],"model":[99],"mobile":[101],"capability":[102],"systems.":[106],"Then":[107],"integer":[109],"linear":[110],"programming":[111],"is":[113,128,145],"proposed":[114,143],"find":[116],"solution":[119],"(if":[120],"it":[121],"exists)":[122],"specification":[127],"fulfilled,":[129],"while":[130],"securities":[132],"preserved.":[137],"Finally,":[138],"effectiveness":[140],"method":[144],"illustrated":[146],"through":[147],"several":[148],"simulation":[149],"studies.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
