@Article{10798587.2016.1264695,
AUTHOR = {S. Bartkevicius, O. Fiodorova, A. Knys, A. Derviniene, G. Dervinis, V. Raudonis, A. Lipnickas, V. Baranauskas, K. Sarkauskas, L. Balasevicius},
TITLE = {Mobile Robots Navigation Modeling in Known 2D Environment Based on Petri Nets},
JOURNAL = {Intelligent Automation \& Soft Computing},
VOLUME = {24},
YEAR = {2018},
NUMBER = {2},
PAGES = {241--248},
URL = {http://www.techscience.com/iasc/v24n2/39750},
ISSN = {2326-005X},
ABSTRACT = {The paper deals with supervised robot navigation in known environments. The navigation task is divided 
into two parts, where one part of the navigation is done by the supervisor system i.e. the system sets the 
vector marks on the salient edges of the virtual environment map and guides the robot to reach these 
marks. Mobile robots have to perform a specific task according to the given paths and solve the local 
obstacles avoidance individually. The salient point’s detection, vector mark estimation and optimal path 
calculation are done on the supervisor computer using colored Petri nets. The proposed approach was 
extended to simulate a flexible manufacturing system consisting of swarm of 17 robots, 17 - warehouses 
and 17 - manufacturing places. Our experimental investigation showed that simulated mobile robots 
with proposed supervision system were efficiently moving on the planned path.},
DOI = {10.1080/10798587.2016.1264695}
}