# Thesis, Books and Edited proceedings

**B4.** C. Mahulea, M. Kloetzer, R. Gonzalez, *"Path Planning of Cooperative Mobile Robots Using Discrete Event Models"*, Wiley-IEEE Press,
January 2020. [ISBN: 978-1-119-48632-9]

**B3.** A. Giua, C. Mahulea, M. Silva, J. Zaytoon, (eds.), Proc. of the 3rd IFAC Conference on Analysis and Design of Hybrid Systems (Zaragoza, Spain), September, 2009.
[IFAC-PapersOnLine]

**B2.** C. Mahulea, *"Timed Continuous Petri Nets: Quantitative Analysis, Observability and Control,"* PhD thesis,
University of Zaragoza, Spain, 2007.[ISBN: 973-8292-86-7]

**B1.** O. Pastravanu, M. Matcovschi, and C. Mahulea, *"Applications of Petri Nets in Studying Discrete Event Systems,"*
"Gh. Asachi" Iasi, ISBN 9738292867, 2002. In Romanian.
[pdf]

# Journal Papers

**J28.** D. Clavel, C. Mahulea and M. Silva, "On Liveness Enforcement of Distributed Petri Net Systems,"
*IEEE Transactions on Automatic Control*, in press, 2022. DOI: [10.1109/TAC.2022.3198328] (IF: 6.549; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2021)

**J27.** S. Hustiu, I. Hustiu, M. Kloetzer and C. Mahulea, "LTL Task Decomposition for 3D High-Level Path Planning,"
*Journal of Control Engineering and Applied Informatics,*, vol. 24(3), pp. 76-87, 2021. (IF: 1.299; Q4 in AUTOMATION & CONTROL SYSTEMS (JCR2021))

**J26.** C. Mahulea, R. González, E. Montijano and M. Silva, "Path planning of multirobot systems using Petri net models. Results and open problems."
*Revista Iberoamericana de Automática e Informática industrial*, vol. 18(1):19-31, January 2021. DOI: [10.4995/riai.2020.13785] (IF: 1.250; Q4 in AUTOMATION & CONTROL SYSTEMS (JCR2021))

**J25.** D. Clavel, C. Mahulea, J. Albareda and M. Silva, "A Decision Support System for Elective Surgery Scheduling under Uncertain Durations,"
*Applied Sciences*, Special Issue on "Medical Informatics and Data Analysis", 10(6):1937, March 2020. DOI: [10.3390/app10061937] (IF: 2.679; Q2 in PHYSICS, APPLIED (JCR2020))

**J24.** M. Kloetzer and C. Mahulea, "Path planning for robotic teams based on LTL specifications and Petri net models,"
*Discrete Event Dynamic Systems: Theory and Applications*, 30(1):55-79, March 2020. DOI: [10.1007/s10626-019-00300-1]. (IF: 0.976; Q3 in MATHEMATICS, APPLIED (JCR2020))

**J23.** C. Mahulea, A. Grau, L. Lo Bello, "The 24th IEEE International Conference on Emerging Technologies and Factory Automation Held in Zaragoza, Spain [Society News]," *IEEE industrial electronics magazine*, vol. 13(4):27-128, December 2019.
[10.1109/MIE.2019.2949845] (IF: 13.593; Q1 in Engineering, Eletrical and Electronics (JCR2019))

**J22.** S. Bernardi, C. Mahulea and J. Albareda, "Toward a decision support system for the clinical pathways assessment,"
*Discrete Event Dynamic Systems: Theory and Applications*, 29(1):91-125, March 2019. DOI: [10.1007/s10626-019-00279-9] [draft]. (IF: 1.088; Q3 in MATHEMATICS, APPLIED (JCR2019))

**J21.** A. Burlacu, M. Kloetzer and C. Mahulea, "Numerical evaluation of sample gathering solutions for mobile robots,"
*Applied Sciences*, Special Issue on "Advanced Mobile Robotics", 9(4):791, February 2019. DOI: [10.3390/app9040791] (IF: 2.474; Q2 in PHYSICS, APPLIED (JCR2019))

**J20.** C. Mahulea and M. Kloetzer, "Robot Planning based on Boolean Specifications using Petri Net Models,"
*IEEE Transactions on Automatic Control*, 63(7): 2218-2225, July 2018. DOI: [10.1109/TAC.2017.2760249] (IF: 5.093; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2018))

**J19.** C. Mahulea, L. Mahulea, J.M. Garcia-Soriano and J.M. Colom "Modular Petri Net Modeling of Healthcare Systems," *Flexible Services and Manufacturing Journal*, 30(1-2): 329-357, June 2018. DOI: [10.1007/s10696-017-9283-9] [draft] (IF: 2.519; Q2 in OPERATIONS RESEARCH & MANAGEMENT SCIENCE (JCR2018))

**J18.** J. Albareda, D. Clavel, C. Mahulea, N. Blanco, L. Ezquerra, J. Gómez, M. Silva, ¿Realizamos bien la programación quirúrgica? ¿Cómo podemos
mejorarla?" - "Do we perform surgical programming well? How can we improve it?," *Revista Española de Cirugía Ortopédica y Traumatología*, vol. 61(6): 375-382, November-December 2017. DOI: [10.1016/j.recot.2017.07.006]

**J17.** A. Giua, C. Mahulea and C. Seatzu, "Decentralized Observability of Discrete Event Systems with
Synchronizations," *Automatica*, vol 85: 468-476, November 2017. DOI: [10.1016/j.automatica.2017.08.009] (IF: 6.126; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2017))

**J16.** M. Kloetzer and C. Mahulea, "LTL-based Planning in Environments with Probabilistic Observations," *IEEE Transactions on Automation Science and Engineering*, 12(4): 1407 - 1420, October 2015. DOI: [10.1109/TASE.2015.2454299] [draft] (IF: 2.696; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2015))

**J15.** X. Wang, C. Mahulea and M. Silva, "Diagnosis of Time Petri Nets using Fault Diagnosis Graph,"
*IEEE Transactions on Automatic Control*, 60(9): 2321 - 2335, September 2015. DOI: [10.1109/TAC.2015.2405293] (IF: 2.777; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2015))

**J14.** M. Kloetzer and C. Mahulea, "A Petri net based approach for multi-robot path planning,"
*Discrete Event Dynamic Systems: Theory and Applications*, 24(4): 417-445, December 2014. DOI: [10.1007/s10626-013-0162-6] [draft] (IF: 1.333; Q1 in MATHEMATICS, APPLIED (JCR2014))

**J13.** J. Julvez, S. Di Cairano, A. Bemporad, and C. Mahulea, "Event-Driven Model Predictive Control of Timed Hybrid Petri Nets,"
*International Journal of Robust and Nonlinear Control*, 24(12): 1724-1742, August 2014. DOI: [10.1002/rnc.2958 draft] (IF: 3.176; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2014))

**J12.** L. Wang, C. Mahulea, J. Julvez, and M. Silva, "ON/OFF strategy based minimum-time control of continuous Petri nets,"
*Nonlinear Analysis: Hybrid Systems*, vol. 12: 50-65, May 2014. DOI: 10.1016/j.nahs.2013.11.007 [draft] (IF: 2.375; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2014))

**J11.** H. Apaydin-Ozkan, C. Mahulea, J. Julvez, and M. Silva, "A Control Method for Distributed Continuous Mono-T-Semiflow Petri nets," *International Journal of Control*, 87(2): 223-234, 2014. DOI: 10.1080/00207179.2013.826822 [draft] (IF: 1.654; Q2 in AUTOMATION & CONTROL SYSTEMS (JCR2014))

**J10.** L. Wang, C. Mahulea, J. Julvez, and M. Silva, "Minimum-time Decentralized Control of Choice-Free Continuous Petri Nets,"
*Nonlinear Analysis: Hybrid Systems*, 7(1): 39-53, February 2013. DOI: 10.1016/j.nahs.2012.07.004 [draft] (IF: 1.789; Q1 in MATHEMATICS, APPLIED (JCR2013))

**J9.** C. Mahulea, C. Seatzu, M.P. Cabasino, and M. Silva, "Fault Diagnosis of Discrete-Event Systems using Continuous Petri Nets,"
*IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans*, 42(4):970 - 984, July 2012. DOI: 10.1109/TSMCA.2012.2183358 [draft] (IF: 2.183; Q1 in COMPUTER SCIENCE, CYBERNETICS (JCR2012))

**J8.** J. Julvez, C. Mahulea, and C.R. Vazquez, "SimHPN: a MATLAB toolbox for simulation, analysis and design with hybrid Petri nets,"
*Nonlinear Analysis: Hybrid Systems*, 6(2): 806-817, May 2012. DOI: 10.1016/j.nahs.2011.10.001 [draft] (IF: 1.685; Q1 in MATHEMATICS, APPLIED (JCR2012))

**J7.** M. Silva, J. Julvez, C. Mahulea, C.R. Vazquez, "On fluidization of discrete event models: observation and control of continuous Petri nets,"
*Discrete Event Dynamic Systems: Theory and Applications*, 21(4): 427-497, December 2011. DOI: 10.1007/s10626-011-0116-9 [draft] (IF: 0.641; Q3 in AUTOMATION & CONTROL SYSTEMS (JCR2011))

**J6.** H. Apaydin-Ozkan, J. Julvez, C. Mahulea, and M. Silva, "Approaching Minimum Time Control of Timed Continuous Petri nets,"
*Nonlinear Analysis: Hybrid Systems*, 5(2): 136 - 148, May 2011. DOI: 10.1016/j.nahs.2010.04.002 [draft] (IF: 1.685; Q1 in MATHEMATICS, APPLIED (JCR2012))

**J5.** M. Kloetzer, C. Mahulea, C. Belta, and M. Silva, "An Automated Framework for Formal Verification of Timed Continuous Petri Nets,"
*IEEE Transactions on Industrial Informatics*, 6(3): 460 - 471, August 2010. DOI: 10.1109/TII.2010.2050001 [draft] (IF: 1.627; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2010))

**J4.** C. Mahulea, L. Recalde, and M. Silva, "Observability of continuous Petri nets with infinite server semantics,"
*Nonlinear Analysis: Hybrid Systems*, 4(2): 219-232, May 2010. DOI: 10.1016/j.nahs.2009.06.014 [draft] (IF: 1.685; Q1 in MATHEMATICS, APPLIED (JCR2012))

**J3.** C. Mahulea, L. Recalde, and M. Silva, "Basic Server Semantics and Performance Monotonicity of Continuous Petri Nets,"
*Discrete Event Dynamic Systems: Theory and Applications*, 19(2): 189 - 212, June 2009. DOI: 10.1007/s10626-008-0049-0 [draft] (IF: 0.921; Q2 in MATHEMATICS, APPLIED (JCR2009))

**J2.** C. Mahulea, A. Giua, L. Recalde, C. Seatzu, and M. Silva, "Optimal model predictive control of Timed Continuous Petri nets,"
*IEEE Transactions on Automatic Control*, 53(7): 1731 - 1735, August 2008. DOI: 10.1109/TAC.2008.929386 [draft] (IF: 3.293; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2008))

**J1.** C. Mahulea, A. Ramirez, L. Recalde, and M. Silva,
"Steady state control reference and token conservation laws in continuous Petri net systems,"
* IEEE Transactions on Automation Science and Engineering*, 5(2): 307-320, April 2008.
DOI: 10.1109/TASE.2007.893504 [draft] (IF: 1.929; Q2 in AUTOMATION & CONTROL SYSTEMS (JCR2008))

# Book Chapters

**BC7.** C.R. Vazquez, C. Mahulea, J. Julvez, and M. Silva, "Introduction to Fluid Petri Nets," In C. Seatzu, M. Silva, J.H. van Schuppen (Eds.), *Control of Discrete-Event Systems. Automata and Petri net Perspectives*, Lecture Notes in Control and Information Sciences, Volume 433, pages 365-386, Springer, Heidelberg (2013). [Springer]

**BC6.** C. Mahulea, J. Julvez, C.R. Vazquez, and M. Silva, "Continuous Petri Nets: Observability and Diagnosis," In C. Seatzu, M. Silva, J.H. van Schuppen (Eds.), *Control of Discrete-Event Systems. Automata and Petri net Perspectives*, Lecture Notes in Control and Information Sciences, Volume 433, pages 387-406, Springer, Heidelberg (2013). [Springer]

**BC5.** J. Julvez, C.R. Vazquez, C. Mahulea, and M. Silva, "Continuous Petri Nets: Controllability and Control," In C. Seatzu, M. Silva, J.H. van Schuppen (Eds.), *Control of Discrete-Event Systems. Automata and Petri net Perspectives*, Lecture Notes in Control and Information Sciences, Volume 433, pages 407-428, Springer, Heidelberg (2013). [Springer]

**BC4.** C. Mahulea, T. Asaftei, M. Matcovschi,
"Manufacturing Systems analysis and design. Qualitative versus Quantitative Techniques in a Petri net settings,"
*Buletinul Institutului Politehnic din Iasi*, Sectia Automatica si Calculatoare, Tomul LV (LIX), Fasc. 4, 2009
pp. 35-46. [pdf]

**BC3.** A. Giua, C. Mahulea, L. Recalde, C. Seatzu, and M. Silva. Optimal Control of timed continuous Petri Nets via explicit MPC. In
* Lecture Notes in Control and Information Sciences (Positive Systems)*, C. Commault, (Ed.), pp. 383-390, Springer Berlin / Heidelberg,
2006, ISBN 978-3-540-34774-3.
[pdf]

**BC2.** O. Pastravanu, M. Matcovschi, and C. Mahulea.
Petri Net Toolbox - teaching discrete event systems under Matlab.
In M. Voicu, editor, *Advances in Automatic Control*, Kluwer International Series in Engineering and Computer Science, Vol. 754, pp. 247-255,
Kluwer Academic Publishers, 2004, ISBN 1-4020-7607-X.
[pdf]

**BC1.** C. Mahulea, L. Barsan, and O. Pastravanu. Matlab tools for Petri-net-based approaches to flexible manufacturing systems.
In *Large Scale Systems: Theory and Applications 2001*, F.G. Filip, I. Dumitrache, S. Iliescu, (Eds.),
IFAC Symposia Series, Elsevier Science, pp. 199-204, 2002, ISBN 0-08-043691-9.
[pdf]

# Conference Papers

**C87.** I. Hustiu, C. Mahulea and M. Kloetzer, "Distributing Co-safe LTL Specifications to Mobile Robots," In * ICSTCC 2022: 26th International Conference on System Theory, Control and Computing*, Sinaia, Romania, October 2022.

**C86.** S. Hustiu, C. Mahulea and M. Kloetzer, "Parallel Motion Execution and Path Rerouting for a Team of Mobile Robots," In * WODES'2022: 16th IFAC International Workshop on Discrete Event Systems*, Prague, Czechia, September 2022.

**C85.** S. Hustiu, M. Kloetzer, A. Lopez-Martinez and C. Mahulea, "Whitening of greenhouse’s roof using drones and Petri net models," In * ETFA 2022: 27th IEEE International Conference on Emerging Technologies and Factory Automation*, Stuttgart, Germany, September 2022.

**C84.** S. Hustiu, M. Kloetzer and C. Mahulea, "Mission assignment and 3D path planning for a team of UAVs," In * ICSTCC 2021: 25th International Conference on System Theory, Control and Computing*, Iasi, Romania, October 2021.

**C83.** I. Hustiu, C. Mahulea and M. Kloetzer, "Optimal task allocation for distributed co-safe LTL specifications," In * ETFA 2021: 26th IEEE International Conference on Emerging Technologies and Factory Automation*, Vasteras, Sweden, September 2021.

**C82.** E. Montijano and C. Mahulea, "Probabilistic Multi-Robot Path Planning with High-Level Specifications Using Petri Net Models," In * CASE 2021: IEEE 17th International Conference on Automation Science and Engineering*, Lyon, France, August 2021.

**C81.** I. Hustiu, M. Kloetzer and C. Mahulea, "Distributed Path Planning of Mobile Robotswith LTL Specifications," In * 24th International Conference on System Theory, Control and Computing*, Sinaia, Romania, October 2020, pp. 60-65. [DOI]:10.1109/ICSTCC50638.2020.9259659

**C80.** C. Mahulea, E. Montijano and M. Kloetzer, "Distributed Multirobot Path Planning in Unknown Maps Using Petri Net Models," In * 21rst IFAC World Congress*, Berlin, Germany, July 2020, pp. 2063-2068. [DOI]:10.1016/j.ifacol.2020.12.2521

**C79.** C. Mahulea, M. Kloetzer and J.J. Lesage, "Multi-robot Path Planning with Boolean Specifications and Collision Avoidance," In * IFAC-PapersOnLine*, Volume 53, Issue 4, 2020, pp. 101-108. [DOI]:10.1016/j.ifacol.2021.04.011

**C78.** D. Clavel, C. Mahulea and M. Silva, "From Healthcare System Specifications to Formal Models," In * SMC 2019 IEEE International Conference on Systems, Man, and Cybernetics*, Bari, Italy, October 2019, pp. 2344-2351. [DOI]:10.1109/SMC.2019.8914654.

**C77.** J. Albareda, D. Clavel, L. Castan and C. Mahulea, "CIPLAN: Herramienta informática para la programación quirúrgica," 56 Congreso de la Sociedad Españla de Cirugía Ortopédica y Traumatología (SECOT), Zaragoza, Septiembre 2019.

**C76.** J. Albareda, D. Clavel, L. Castan and C. Mahulea, "Cómo afectan diferentes políticas de programación y cancelación quirúrgicas a la eficiencia y calidad del servicio?," 56 Congreso de la Sociedad Española de Cirugía Ortopédica y Traumatología (SECOT), Zaragoza, Septiembre 2019.

**C75.** M. Kloetzer, A. Burlacu, G. Enescu, S. Caraiman and C. Mahulea, "Optimal Indoor Goods Delivery Using Drones," In * ETFA 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation*, Zaragoza, Spain, September 2019, pp. 1579-1582. [DOI]:10.1109/ETFA.2019.8869278

**C74.** D. Clavel, J. Albareda, L. Castan and C. Mahulea, "Sistema informático para la programación quirúrgica," XXII Congreso Nacional de Informática de la Salud. Madrid, España, Marzo 2019.

**C73.** D. Clavel, J. Albareda, L. Castan and C. Mahulea, "Herramienta informática para la programación quirúrgica de pacientes en lista de espera," III Congreso Nacional de eSalud. Madrid, España, Noviembre 2018.

**C72.** D. Clavel, D. Botez, C. Mahulea and J. Albareda, "Software Tool for Operating Room Scheduling in a Spanish Hospital Department," In * ICSTCC 2018: 22nd International Conference on System Theory, Control and Computing *, Sinaia, Romania, Octubre 2018, pp. 413-420. [DOI]: 10.1109/ICSTCC.2018.8540764

**C71.** E. Vitolo, C. Mahulea and M. Kloetzer, "Path-planning in Discretized Environments with Optimized Waypoints Computation," In * ETFA 2018: 23rd IEEE International Conference on Emerging Technologies and Factory Automation*, Torino, Italy, September 2018, pp. 729-735. [DOI]: 10.1109/ETFA.2018.8502504

**C70.** E. Vitolo, A. San Miguel, J. Civera and C. Mahulea, "Performance Evaluation of the Dyna-Q algorithm for Robot Navigation," In * CASE 2018: 14th IEEE International Conference on Automation Science and Engineering *, Munich, Germany, August 2018, pp. 322-327. [DOI]: 10.1109/COASE.2018.8560457

**C69.** D. Clavel, X. Xie, C. Mahulea and M. Silva, "A Three Steps Approach for Surgery Planning of Elective and Urgent Patients," In * IFAC-PapersOnLine*, vol. 51(7), 2018, pp. 243-250. [DOI]: 10.1016/j.ifacol.2018.06.308

**C68.** E. Vitolo, C. Mahulea and M. Kloetzer, "A Computationally Efficient Solution for Path Planning of Mobile Robots with Boolean Specifications," In * ICSTCC'2017: 21st International Conference on System Theory, Control and Computing*, Sinaia, Romania, October 2017. [DOI]: 10.1109/ICSTCC.2017.8107012

**C67.** R. Gonzalez, M. Kloetzer and C. Mahulea, "Comparative Study of Trajectories Resulted from Cell Decomposition Path Planning Approaches," In * ICSTCC'2017: 21st International Conference on System Theory, Control and Computing*, Sinaia, Romania, October 2017. [DOI]: 10.1109/ICSTCC.2017.8107010

**C66.** D. Clavel, C. Mahulea, J. Albareda and M. Silva, "Towards Efficient Algorithms for Planning Surgeries in Operation Rooms," In * ETFA'2017: 22nd IEEE International Conference on Emerging Technologies and Factory Automation*, Limassol, Chipre, September 2017. [DOI]: 10.1109/ETFA.2017.8247620

**C65.** L. Parrilla, C. Mahulea and M. Kloetzer, "RMTool: recent enhancements," In * IFAC-PapersOnLine*, Volume 50, Issue 1, July 2017, pp. 5824-5830. [DOI]: 10.1016/j.ifacol.2017.08.539

**C64.** L. Parrilla, J. Garcia, J. Albareda and C. Mahulea, "HEAT: A Tool to Develop, Analyze and Monitor
Clinical Pathways," In * ICNSC'2017: 14th IEEE International Conference on Networking, Sensing and Control*, Calabria, Italy, May 2017. [DOI]: 10.1109/ICNSC.2017.8000089

**C63.** D. Clavel, C. Mahulea and M. Silva, "On Liveness Enforcement for DSSP net systems," In * CDC'2016: 55th IEEE Conference on Decision and Control*, Las Vegas, USA, December 2016. [DOI]: 10.1109/CDC.2016.7798864

**C62.** J. Lamarca, M. Kloetzer and C. Mahulea, "Inexpensive robot for experimental validation of planning and control algorithms," In * ICSTCC'2016: 20th International Conference on System Theory, Control and Computing*, Sinaia, Romania, October 2016. [DOI]: 10.1109/ICSTCC.2016.7790715

**C61.** M. Kloetzer, C. Mahulea and A. Burlacu, "Sample Gathering Problem for Different Robots with Limited Capacity," In * ICSTCC'2016: 20th International Conference on System Theory, Control and Computing*, Sinaia, Romania, October 2016. [DOI]: 10.1109/ICSTCC.2016.7790713

**C60.** D. Clavel, C. Mahulea, J. Albareda and M. Silva, "Operation Planning of Elective Patients in an Orthopedic Surgery Department," In * ETFA'2016: 21st IEEE International Conference on Emerging Technologies and Factory Automation*, Berlin, Germany, September 2016. DOI: 10.1109/ETFA.2016.7733623

**C59.** M. Kloetzer and C. Mahulea, "Multi-Robot Path Planning for Syntactically Co-Safe LTL Specifications," In * WODES'2016: 13rd IFAC International Workshop on Discrete Event Systems*, Xi'an, China, May 2016. [DOI]: 10.1109/WODES.2016.7497887

**C58.** X. Wang, M. Kloetzer, C. Mahulea and M. Silva, "Collision avoidance of mobile robots by using initial time delays," In * CDC'2015: 54th IEEE Conference on Decision and Control*, Osaka, Japan, December 2015. [DOI]: 10.1109/CDC.2015.7402221

**C57.** M. Kloetzer, C. Mahulea and R. Gonzalez, "Optimizing Cell Decomposition Path Planning for Mobile Robots Using Different Metrics," In * ICSTCC'2015: 19th International Conference on System Theory, Control and Computing*, Cheile Gradistei, Romania, October 2015. [DOI]: 10.1109/ICSTCC.2015.7321353

**C56.** R. Gonzalez, C. Mahulea and M. Kloetzer, "A Matlab-Based Interactive Simulator for Mobile Robotics," In * CASE'2015: IEEE Int. Conf. on Automation Science and Engineering*, Gothenberg, Sweden, August 2015. [DOI]: 10.1109/CoASE.2015.7294097

**C55.** M. Kloetzer and C. Mahulea, "Accomplish Multi-Robot Tasks Via Petri Net Models," In * CASE'2015: IEEE Int. Conf. on Automation Science and Engineering*, Gothenberg, Sweden, August 2015. [DOI]: 10.1109/CoASE.2015.7294096

**C54.** C. Mahulea and M. Kloetzer, "Planning Mobile Robots with Boolean-based Specifications," In * CDC'2014: 53rd IEEE Conference on Decision and Control*, Los Angeles, California, USA, December 2014. [DOI]: 10.1109/CDC.2014.7040192

**C53.** C. Mahulea, L. Mahulea, J.M. Garcia Soriano and J.M. Colom, "Petri Nets with
Resources for Modeling Primary Healthcare Systems," In * ICSTCC'2014: 18th International Conference on System
Theory, Control and Computing*, Sinaia, Romania, October 2014. [DOI]: 10.1109/ICSTCC.2014.6982489

**C52.** S. Bernardi, J. Albareda, J.M. Colom and C. Mahulea, "A model-based Approach for the Specification and Verification of Clinical Guidelines," In * ETFA'2014: 19th IEEE International Conference on Emerging Technologies and Factory Automation*, Barcelona, Spain, September 2014. [DOI]: 10.1109/ETFA.2014.7005116

**C51.** M. Kloetzer and C. Mahulea, "An Assembly Problem with Mobile Robots," In * ETFA'2014: 19th IEEE International Conference on Emerging Technologies and Factory Automation*, Barcelona, Spain, September 2014. [DOI]: 10.1109/ETFA.2014.7005116

**C50.** X. Wang, C. Mahulea and M. Silva, "Deadlock Prevention Policy for S3PR - Application to Robot Planning," In * ETFA'2014: 19th IEEE International Conference on Emerging Technologies and Factory Automation*, Barcelona, Spain, September 2014. [DOI: 10.1109/ETFA.2014.7005169]

**C49.** M. Silva and C. Mahulea, "From Discrete to
Continuous Models: A Perspective on Fluidization of Petri
Nets," In * ECC'2014: European Control Conference*, Strasbourg, France, June 2014. DOI: [10.1109/ECC.2014.6862627].

**C48.** X. Wang, C. Mahulea and M. Silva, "Model Checking on Fault Diagnosis Graph," In *IFAC Proceedings Volumes*, Volume 47, Issue 2, 2014, pp. 434-439. DOI: [10.3182/20140514-3-FR-4046.00053].

**C47.** L. Wang, C. Mahulea and M. Silva, "Distributed Model Predictive Control of Timed Continuous Petri nets," In * CDC'2013: 52nd IEEE Conference on Decision and Control*, Florence, Italy, December 2013, pp. 6317-6322. DOI: [10.1109/CDC.2013.6760888].

**C46.** X. Wang, C. Mahulea and M. Silva, "Decentralized Diagnosis Based on Fault Diagnosis Graph," In * ETFA'2013: 18th IEEE International Conference on Emerging Technologies and Factory Automation*, Cagliari, Italy, September 2013. DOI: [10.1109/ETFA.2013.6648060].

**C45.** M. Kloetzer, C. Mahulea and J.M. Colom, "Petri net approach for deadlock prevention in robot planning," In * ETFA'2013: 18th IEEE International Conference on Emerging Technologies and Factory Automation*, Cagliari, Italy, September 2013. DOI: [10.1109/ETFA.2013.6648102].

**C44.** X. Wang, C. Mahulea, and M. Silva, "Fault Diagnosis Graph of Time Petri Nets," In * ECC'13: European Control Conference*, Zurich, Switzerland, July 2013. [DOI: 10.23919/ECC.2013.6669417].

**C43.** L. Wang, C. Mahulea, and M. Silva , "Minimum-Time Flow Control of Timed Continuous Choice-Free Nets," In * ECC'13: European Control Conference*, Zurich, Switzerland, July 2013. [IEEExplore].

**C42.** M. Kloetzer, and C. Mahulea, "LTL Planning in Dynamic Environments," In *IFAC Proceedings Volumes*, Volume 45, Issue 29, 2012, pp. 294-300. DOI: [10.3182/20121003-3-MX-4033.00048]

**C41.** L. Wang, C. Mahulea, J. Julvez, and M. Silva, "Control of continuous Petri nets using ON/OFF based method," In *IFAC Proceedings Volumes*, Volume 45, Issue 29, 2012, pp. 47-53. DOI: [10.3182/20121003-3-MX-4033.00011]

**C40.** C. Mahulea, J.M. Garcia Soriano, and J.M. Colom, "Modular Petri net modeling of the Spanish Health System," In * ETFA'2012: 17th IEEE International Conference on Emerging Technologies and Factory Automation*, Krakow, Poland, September 2012, pp. 1-8. [IEEExplore]

**C39.** C. Mahulea, and M. Kloetzer, "Online Petri Net Based Algorithm for Planning and Controlling Mobile Robots," In * ETFA'2012: 17th IEEE International Conference on Emerging Technologies and Factory Automation*, Krakow, Poland, September 2012, pp. 1-8. [IEEExplore].

**C38.** M.P. Cabasino, A. Giua, C. Mahulea, and C. Seatzu, "On Decentralized Observability of Discrete Event Systems," In * 50th IEEE Conference on Decision and Control and European Control Conference*, Orlando, Florida, USA, December 2011, pp. 378 - 384. [IEEExplore]

**C37.** M. Silva, and C. Mahulea, "Fluidization and Fluid views of Discrete Event Systems," In * 15th Int. Conf. on System Theory, Control and Computing*, Sinaia, Romania, October 2011, pp. 1-10. [IEEExplore]

**C36.** M. Kloetzer, C. Mahulea, and O. Pastravanu, "A Probabilistic Abstraction Approach for Planning and Controlling Mobile Robots," In * ETFA'2011: 16th IEEE International Conference on Emerging Technologies and Factory Automation*, Toulouse, France, September 2011, pp. 1-8. [IEEExplore]

**C35.** J Julvez, C. Mahulea, and C.R. Vazquez, "Analysis and Simulation of Manufacturing Systems using SimHPN toolbox," In * 7th IEEE Conf. on Automation Science and Engineering*, Trieste, Italy, August 2011, pp. 432 - 437. [IEEExplore]

**C34.** X. Wang, C. Mahulea, J. Julvez, and M. Silva, "On State Estimation of Timed Choice-Free Petri Nets," In *IFAC Proceedings Volumes*, Volume 44, Issue 1, January 2011, pp. 8687-8692. DOI: [10.3182/20110828-6-IT-1002.01523]

**C33.** E. Fraca, J. Julvez, C. Mahulea, and M. Silva, "On Reachability and Deadlock-Freeness of Hybrid Adaptive Petri Nets," In *IFAC Proceedings Volumes*, Volume 44, Issue 1, January 2011, pp. 6048-6053. DOI: [10.3182/20110828-6-IT-1002.00832]

**C32.** L. Wang, C. Mahulea, J. Julvez, and M. Silva, "Decentralized Control of Large Scale Systems Modeled with Continuous Marked Graphs," In *IFAC Proceedings Volumes*, Volume 44, Issue 1, January 2011, pp. 6042-6047. DOI: [10.3182/20110828-6-IT-1002.00859]

**C31.** H. Apaydin-Ozkan, C. Mahulea, J. Julvez, and M. Silva, "An Iterative Control Method for Distributed Continuous Petri Nets," In * 49th IEEE Conference on Decision and Control*, Atlanta, Georgia, USA, December 2010, pp. 6753 - 6758. [IEEExplore]

**C30.** L. Wang, C. Mahulea, J. Julvez, and M. Silva, "Minimum-Time Control for Structurally Persistent Continuous Petri Nets," In * 49th IEEE Conference on Decision and Control*, Atlanta, Georgia, USA, December 2010, pp. 2771 - 2776. [IEEExplore]

**C29.** M. P. Cabasino, C. Seatzu, C. Mahulea, and M. Silva, "Fault diagnosis of manufacturing systems using continuous Petri nets," In * 2010 IEEE International Conference on Systems, Man, and Cybernetics*, Istanbul, Turkey, October 2010, pp. 534 - 539. [IEEExplore]

**C28.** J. Julvez and C. Mahulea, "SimHPN: a MATLAB toolbox for continuous Petri nets," In *IFAC Proceedings Volumes*, Volume 43, Issue 12, 2010, pp. 21-26. DOI: [10.3182/20100830-3-DE-4013.00006]

**C27.** H. Apaydin-Ozkan, J. Julvez, C. Mahulea, and M. Silva, "A Control Method for Timed Distributed Continuous Petri nets," In * 2010 American Control Conference*, Baltimore, MD, USA, June - July 2010, pp. 2593-2600. [IEEExplore]

**C26.** M. Heiner, C. Mahulea, and M. Silva, "On the Importance of the Deadlock Trap Property for Monotonic Liveness," In * Int. Workshop on Biological Processes & Petri Nets (BioPPN), A satellite event of Petri Nets 2010 *, Braga, Portugal, June 2010, pp. 39-54, ISBN: 978-972-8692-53-7. [Proceedings]

**C25.** C. Seatzu, M. P. Cabasino, C. Mahulea, and M. Silva, "New results for fault detection of untimed
continuous Petri nets," In * 48th IEEE Conference on Decision and Control,* Shanghai, P.R. China, December 2009, pp. 6952-6957. [IEEExplore]

**C24.** H. Apaydin-Ozkan, J. Julvez, C. Mahulea, and M. Silva, "An Efficient Heuristics for Minimum Time Control of Continuous Petri nets,"
In *IFAC Proceedings Volumes,* Volume 42, Issue 17, 2009, pp. 44-49. DOI: [10.3182/20090916-3-ES-3003.00009]

**C23.** C. Seatzu, C. Mahulea, M. P. Cabasino, and M. Silva, "Fault diagnoser design for untimed continuous Petri
nets," In * 2009 IEEE Multi-conference on Systems and Control,* Saint Petersburg, Russia, July 2009, pp. 1598-1604.
[pdf]

**C22.** M. Franceschelli, M. Egerstedt, A. Giua, and C. Mahulea, "Constrained Invariant Motions for Networked Multi-Agent Systems," In *
2009 American Control Conference*, St. Louis, Missouri, USA, June 2009, pp. 5749-5754. [IEEExplore]

**C21.** C. Mahulea, C. Seatzu, M. P. Cabasino, L. Recalde, and M. Silva, "Observer Design for Untimed Continuous Petri Nets," In *
2009 American Control Conference*, St. Louis, Missouri, USA, June 2009, pp. 4765 - 4770. [IEEExplore]

**C20.** M. Kloetzer, C. Mahulea, C. Belta, L. Recalde, and M. Silva "Formal analysis of timed continuous Petri nets," In *
47th IEEE Conference on Decision and Control*, Cancun, Mexico, December 2008, pp. 245 - 250.[pdf]

**C19.** C. Mahulea, L. Recalde, and M. Silva, "Observability of Timed Continuous Petri Nets: A Class of Hybrid Systems,"
In * IFAC Proceedings Volumes*, Volume 41, Issue 2, 2008, pp. 519-524. DOI: [10.3182/20080706-5-KR-1001.00088]

**C18.** A. Giua, C. Mahulea, L. Recalde, C. Seatzu and M. Silva, "Properties of continuous Petri nets
controlled via model predictive control,"
In *WODES 08: 9th International Workshop on Discrete Event Systems*,
Gothenburg, Sweden, May 2008, pp. 293 - 299. [pdf]

**C17.** C. Mahulea, M.P. Cabasino, A. Giua, and C. Seatzu, "A State Estimation Problem for Timed Continuous Nets,"
In * 46th IEEE Conference on Decision and Control*, New Orleans, USA, December 2007, pp. 1770 - 1775.
[pdf]

**C16.** M.P. Cabasino, A. Giua, C. Mahulea, L. Recalde, C. Seatzu, and M. Silva, "State Estimation of Petri Nets by Transformation,"
In * 3rd IEEE Conference on Automation Science and Engineering*, Scottsdale, USA, September 2007, pp. 194 - 199.
[pdf]

**C15.** L. Recalde, C. Mahulea, and M. Silva, "Improving analysis and simulation of continuous Petri Nets," In
* 2nd IEEE Conference on Automation Science and Engineering*, Shanghai, China, October 2006, pp. 9 - 14.
[pdf]

**C14.** M. Matcovschi, C. Mahulea, C. Lefter, and O. Pastravanu, "Petri Net Toolbox in Control Engineering Education," In
* 2006 IEEE Conference on Computer Aided Control Systems Design*, pp. 2298-2303, Munich, Germany, October 2006, pp. 2298 - 2303.
[pdf]

**C13.** A. Giua, C. Mahulea, L. Recalde, C. Seatzu and M. Silva, "Optimal Control of timed continuous Petri Nets via model predictive control,"
In *WODES 06: 8th International Workshop on Discrete Event Systems*,
Ann Arbor, USA, July 2006, pp. 235 - 241.
[pdf]

**C12.** C. Mahulea, L. Recalde, and M. Silva, "On performance monotonicity and basic servers semantics of continuous Petri nets,"
In *WODES 06: 8th International Workshop on Discrete Event Systems*,
Ann Arbor, USA, July 2006, pp. 345 - 351.
[pdf]

**C11.** C. Mahulea, A. Giua, L. Recalde, C. Seatzu, and M. Silva, "On sampling continuous timed Petri nets: reachability "equivalence" under infinite servers semantics," In *IFAC Proceedings Volumes*, Volume 39, Issue 5, 2006, pp. 37-43. DOI: [10.3182/20060607-3-IT-3902.00011]

**C10.** C. Mahulea, L. Recalde, and M. Silva, "Optimal Observability for Continuous Petri Nets," In *IFAC Proceedings Volumes*, Volume 38, Issue 1, 2005, pp. 37-42. DOI: [10.3182/20050703-6-CZ-1902.00291]

**C9.** M. Matcovschi, C. Lefter, C. Mahulea, and O. Pastravanu, "Petri Net Toolbox for Matlab in Web-based Analysis and Design of Discrete-event Systems," In
*IFAC Proceedings Volumes*, Volume 38, Issue 1, 2005, pp. 97-102. DOI: [10.3182/20050703-6-CZ-1902.02289]

**C8.** C. Mahulea, A. Ramirez, L. Recalde, and M. Silva, "Steady state control, zero valued poles and token conservation laws in continuous net systems,"
In * CHyDES05: Workshop on Control of Hybrid and Discrete Event Systems*, Miami, USA, June 2005.
[pdf]

**C7.** C. Lefter, C. Mahulea, M. Matcovschi, and O. Pastravanu, "Instruments for Topology-Based Analysis in Petri Net Toolbox,"
In * CONTI04: 6th International Conference on Technical Informatics*, Timisoara, Romania, May 2004.

**C6.** C. Mahulea, M. Matcovschi, and O. Pastravanu, "Role of Animation in Teachware for Control Engineering - A Case Study,"
In *SINTES11: Int. Symposium on
System Theory, Automation, Robotics, Computers, Informatics, Electronics and
Instrumentation*, Craiova, Romania, October 2003.
[pdf]

**C5.** M. Matcovschi, C. Mahulea, and O. Pastravanu,
"Modeling, simulation and analysis of Petri nets in MATLAB,"
In: * 14th International Conference on Control Systems and Computer Science*, Bucharest, Romania, pp 106-111, July 2003.
[pdf]

**C4.** M. Matcovschi, C. Mahulea, and O. Pastravanu, "Petri Net Toolbox for MATLAB," In *MED03: 11th IEEE Mediterranean Conference on Control and Automation*, Rhodes, Greece, 2003. [pdf]

**C3.** M. Matcovschi, and C. Mahulea, "Generalized stochastic Petri nets in performance evaluation for queuing networks," In *
ECIT'2002 and ROSYCS'2002 Joint Conference*, Iasi, Romania, July 2002. [pdf]

**C2.** M. Matcovschi, C. Mahulea, and O. Pastravanu, "Computer Tools for Linear Systems over Max-Plus Algebra," * Periodica Politechnica, "Politehnica" University of Timisoara, Trans. on Automatic Control and Computer Science*, Vol. 47(61), 1, pp. 97-102, 2002.
[pdf]

**C1.** M. Matcovschi, C. Mahulea, and O. Pastravanu, "Exploring structural properties of Petri nets in MATLAB,"
* Periodica Politechnica, University "Gh. Asachi" of Iasi, Trans. on Automatic Control and Computer Science*, Vol. XLVII(LI), 1-4, pp. 15-26, 2001.
[pdf]

# Technical Reports

**R1.** D. Clavel, C. Mahulea, J. Albareda, M. Silva, "Robust Scheduling of Elective Patients under Block Booking
by Chance Constrained Approaches," Technical Report RR-18-01, Universidad de Zaragoza, 2018.[pdf]