El miércoles 29 de octubre se celebrará un seminario del grupo COSMOS a cargo del Catedrático de nuestro Departamento, Cristian Mahulea, titulado: "From Petri Nets to Thousands of Robots: Efficient Path Planning Made Simple".
Está abierto a cualquier persona interesada y se desarrollará en el Seminario Manuel Silva a las 12:00 h (duración estimada: 1 hora)
-Resumen: Coordinating thousands of robots efficiently and safely is a major challenge in modern robotics. This talk introduces a framework that bridges Petri net modeling and optimization theory to achieve scalable, collision-free path planning and task allocation. By representing robot motion through Petri Nets (PNs) and exploiting the total unimodularity of the resulting constraint matrices, we can relax NP-hard integer formulations into linear programs that remain exact and computationally efficient.
A two-stage algorithm combines fast LP relaxations with automatic synchronization to ensure safety and parallel motion. Experiments on standard benchmarks show drastic reductions in computation time and remarkable scalability. The results demonstrate how a structural insight from Petri nets can turn a complex coordination problem into a simple, elegant, and highly efficient solution.
-Biografia: Cristian Mahulea is Full Professor of Automatic Control at the University of Zaragoza, Spain. He received his M.Sc. in Control Engineering from the “Gheorghe Asachi” Technical University of Iași (Romania) and his Ph.D. in Systems Engineering from the University of Zaragoza. His research focuses on discrete event and hybrid systems, Petri nets, and the planning and control of multi-robot systems, with applications in logistics and healthcare. He is serving as Associate Editor of the IEEE Transactions on Automatic Control (TAC), the International Journal of Robotics Research (IJRR), and the Journal of Discrete Event Dynamic Systems (JDES), and has served on editorial boards of several leading journals. Prof. Mahulea has co-authored two books and organized major international conferences in automation.
Enlaces:
- http://webdiis.unizar.es/~cmahulea/
