Proposal of Simultaneous Localization and Mapping for Mobile Robots Indoor Environments Using Petri Nets and Computer Vision

Proposal of Simultaneous Localization and Mapping for Mobile Robots Indoor Environments Using Petri Nets and Computer Vision | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Proposal of Simultaneous Localization and Mapping for Mobile Robots Indoor Environments Using Petri Nets and Computer Vision Francisco Alan Mota, Josias Guimaraes Batista, Auzuir Ripardo Alexandria This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4415266/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 04 Nov, 2024 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted 5 You are reading this latest preprint version Abstract Studies in the area of mobile robotics have advanced in recent years, mainly due to the evolution of technology and the growing need for automated and dynamic solutions in sectors such as industry, transport and agriculture. These devices are complex and the ideal method for localizing, mapping and navigating autonomous mobile robots changes depending on the application. Thus, the general objective of this work is to propose a simultaneous localization and mapping method for autonomous mobile robots in indoor environments, using Computer Vision (CV) and Petri Net (PN). A landmark was placed next to each door in the analyzed region and images were acquired as the rooms in the environment were explored. The algorithm processes the images to count and identify the doors. A transition is created in the PN for each door found and the rooms connected by these doors are represented by the places in the PN. Then, one of the doors is crossed, new images are obtained and the process is repeated until all rooms are explored. The algorithm generates an PN, which can be represented by an image file (.png) and a file with the extension .pnml. The results compare the layout of four environments with the respective generated PNs. Furthermore, six evaluation criteria are proposed for validating Petri nets as a topological map of environments. It is concluded that using PN for this purpose presents originality and potential innovation, being a SLAM technique for indoor environments, which demands low computational cost. computer vision mobile robots Petri net simultaneous localization and mapping. Full Text Cite Share Download PDF Status: Published Journal Publication published 04 Nov, 2024 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted Editorial decision: Major Revisions Needed 06 Sep, 2024 Reviewers agreed at journal 10 Jun, 2024 Reviewers invited by journal 16 May, 2024 Editor assigned by journal 16 May, 2024 First submitted to journal 13 May, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4415266","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":303313978,"identity":"87f5dfe1-f78e-4530-976a-29a99f02b2b1","order_by":0,"name":"Francisco Alan Mota","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Francisco","middleName":"Alan","lastName":"Mota","suffix":""},{"id":303313979,"identity":"730ab725-6ca1-48e3-b56e-9a7a5b921e26","order_by":1,"name":"Josias Guimaraes Batista","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA5ElEQVRIie2PvwrCMBCHrwidlK4R//QVUgo+T0pBl6KD4KSSKVl072MIgnNKoV2Ks2NFcHLQSYcMRsU17SiYD44fB/dxdwAGww9iUQChkjhAXn0fANVV2vSt+NXKF4JFXaXB+VE85GLs52FSWgy70FmX+sNWBU7WLJ8OinOIleLRbo71ShyBaNEs2B2iAbKYJICG+sOseFQmUmbBNp7cH2pLHYXgtGnPgw2KbKinqF/SHhNTVJx9RPbYY91Mr3icn24XuRw7PDxerzPsOh1WodB3pJ+OqLL1AoD7iWXVnMFgMPwzT5zUSyaXhaV6AAAAAElFTkSuQmCC","orcid":"https://orcid.org/0000-0002-9879-5985","institution":"UFC: Universidade Federal do Ceara","correspondingAuthor":true,"prefix":"","firstName":"Josias","middleName":"Guimaraes","lastName":"Batista","suffix":""},{"id":303313980,"identity":"e9425365-d595-4d31-a96a-5776679a49ec","order_by":2,"name":"Auzuir Ripardo Alexandria","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Auzuir","middleName":"Ripardo","lastName":"Alexandria","suffix":""}],"badges":[],"createdAt":"2024-05-13 21:00:54","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4415266/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4415266/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s00170-024-14730-1","type":"published","date":"2024-11-04T15:57:23+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":68750295,"identity":"307cb640-261a-47a2-b2f8-13fb4a9ee763","added_by":"auto","created_at":"2024-11-11 16:11:49","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2990141,"visible":true,"origin":"","legend":"","description":"","filename":"JAMTD2402497.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4415266/v1_covered_f8a68891-39b0-4106-ae34-ffcfc17bc064.pdf"}],"financialInterests":"","formattedTitle":"Proposal of Simultaneous Localization and Mapping for Mobile Robots Indoor Environments Using Petri Nets and Computer Vision","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"the-international-journal-of-advanced-manufacturing-technology","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jamt","sideBox":"Learn more about [The International Journal of Advanced Manufacturing Technology](https://www.springer.com/journal/170)","snPcode":"170","submissionUrl":"https://submission.nature.com/new-submission/170/3","title":"The International Journal of Advanced Manufacturing Technology","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"computer vision, mobile robots, Petri net, simultaneous localization and mapping.","lastPublishedDoi":"10.21203/rs.3.rs-4415266/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4415266/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eStudies in the area of mobile robotics have advanced in recent years, mainly due to the evolution of technology and the growing need for automated and dynamic solutions in sectors such as industry, transport and agriculture. 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