RMTool: Recent Enhancements

被引：8

作者：

Parrilla, Luis ^{[1
]}

Mahulea, Cristian ^{[1
]}

Kloetzer, Marius ^{[2
]}

机构：

[1] Univ Zaragoza, Aragon Inst Engn Res I3A, Maria de Luna 1, Zaragoza 50018, Spain

[2] Tech Univ Iasi, Dept Automat Control & Appl Informat, Iasi 700050, Romania

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

Software Tool; Discrete Event Systems; Mobile Robots;

D O I：

10.1016/j.ifacol.2017.08.539

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the enhancements introduced in the second version of RMTool, an open source Matlab-based interactive software for teaching mobile robotics in introductory courses. In the first version only navigation problem of one robot has been considered (the robot should avoid obstacles and reach a desired position). In the actual version, the toolbox introduces new algorithms to cope with modeling and path planning of multiple identical robots, where the final states of the robots and the regions visited along trajectories should satisfy Linear Temporal Logic (LTL) or Boolean-based formulas. The paper includes extensive simulation results performed in RMToo1, pertained to multi-robot path planning based on an LTL or Boolean team specification. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：5824 / 5830

页数：7

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