Modeling Robot Path Planning with CD++

Abstract. Robotic systems are usually built as independent agents that collaborate to accomplish a specific task. Analysis of robot path planning consists of route planning and path generation. We will show how to apply the Cell-DEVS formalism and the CD++ toolkit for these tasks. We present a Cell-DEVS model for route planning, which, based on the obstacles, finds different paths available and creates a Voronoi diagram. Then, we show route planning using the Voronoi diagram to determines an optimal path free of collision. Finally, we introduce a Cell-DEVS model that can be applied to the routing of self-reconfigurable robots. 1