Nous avons le privilège d’accueillir le Prof. Cristian Mahulea de l’Université de Saragosse, Espagne, du 16 au 20 juin 2025.
Dans le cadre de cette visite, Cristian nous propose un séminaire le jeudi 19 juin 2025, de 14h à 16h, en salle de réunion du GREAH sur la planification des trajets et la répartition des tâches des systèmes multi-robots.
Vous êtes cordialement invités à participer à ce séminaire.
Syrine BOUAZZA & S3CP.
Voici quelques informations sur le séminaire.
Petri Net-Based Path Planning and Task Assignment for Multi-Robot Systems
Abstract : This seminar presents a unified framework for path planning and task assignment in multi-robot systems using Petri Nets. Leveraging the structural compactness and concurrency semantics of Petri nets, the proposed approach allows scalable and efficient modeling of robot movements in complex environments. The method integrates mixed-integer linear programming (MILP) techniques to compute optimal and collision-free trajectories that satisfy high-level goals, including Boolean and temporal logic specifications. Two planning paradigms are discussed : a decoupled approach based on Büchi automata and a fully integrated product model that synchronizes robot behavior with logic constraints. The seminar will illustrate how these techniques enable formal correctness, minimal synchronization, and efficient task distribution, making them well-suited for real-world applications in autonomous robotic systems.
Biography
Cristian Mahulea received his B.S. and M.Sc. degrees in control engineering from the Technical University of Iasi, Romania, in 2001 and 2002, respectively, and his Ph.D. in systems engineering from the University of Zaragoza, Spain, in 2007. Currently, he is a Full Professor at the University of Zaragoza, where he chaired the Department of Computer Science and Systems Engineering from 2020 to 2024. He has also served as a visiting professor at the University of Cagliari, Italy. His research interests include discrete event systems, hybrid systems, mobile robotics, and healthcare systems. He has been a Visiting Researcher at the University of Sheffield (UK), Boston University (USA), University of Cagliari (Italy), and ENS Paris-Saclay (France). Cristian has served as an Associate Editor for IEEE Transactions on Automation Science and Engineering (TASE) and IEEE Control Systems Letters (L-CSS). He is currently an Associate Editor for IEEE Transactions on Automatic Control (TAC), the International Journal of Robotics Research (IJRR), Discrete Event Dynamic Systems : Theory and Applications (JDES), and IEEE Robotics and Automation Letters (RA-L). Additionally, he was the General Chair of ETFA 2019.