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In this chapter, different path planning problems solved by using transition system models are presented. We start with the classical navigation problem for a single robot: given an environment cluttered with some obstacles, find a trajectory for a robot to reach an imposed point/region. As mentioned in Chapter 1, this problem is well studied in the literature, and here we solve it by discretizing the environment and obtaining a path by using transition systems models. In general, the path planning algorithm returns a sequence of cells that should be traversed by the robot in order to reach the final destination. An important problem is to select the point on the common edge of two successive cells through which the robot should cross from one cell to the next one. This problem is also approached in this chapter. Assuming a more complicated task for the robot expressed as an LTL formula, path planning algorithms based on transition systems will be described. Finally, this chapter discusses the extension to multi‐robot systems with few robots. |
