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
J29. S. Hustiu, C. Mahulea, M. Kloetzer, J.J. Lesage, "On Multi-Robot Path Planning based on Petri Net Models and LTL Specifications," IEEE Transactions on Automatic Control, vol. 69(9), pp. 6373 - 6380, September 2024. DOI: [10.1109/TAC.2024.3386024] (IF: 6.8; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2022)
J28. D. Clavel, C. Mahulea and M. Silva, "On Liveness Enforcement of Distributed Petri Net Systems," IEEE Transactions on Automatic Control, vol. 68(6), pp. 3776-3782, June 2023. DOI: [10.1109/TAC.2022.3198328] (IF: 6.8; Q1 in AUTOMATION & CONTROL SYSTEMS (JCR2022)
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
C97. M.A. Barb-Ciorbea, M. Koetzer, C. Mahulea, "Planning Strategy Based on Visibility Graph and Traveling Salesman Problem with Time Window Constraints," In ICSTCC 2024: 28th International Conference on System Theory, Control and Computing, Sinaia, Romania, Ocotber 2024.
C96. C. Mahulea, "An Optimal Sensor Placement Strategy for Continuous Petri Nets," In CASE 2024: Int. Conf. on Automation Science and Engineering, Bari, Italy, August 2024.
C95. A.A. Wasim, A.M. Mangini, J. Julvez, C. Mahulea, M.P. Fanti, "Toward Enhancing Security in Intelligent Transportation: A Simulation-Based Approach," In 2024 12th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SafeProcess), Ferrara, Italy, June 2024.
C94. R. Abolpour and C. Mahulea, "Optimizing Path-Planning Solutions Obtained by Using Petri Nets Models," In 17th IFAC Workshop on Discrete Event Systems (WODES 2024), Rio de Janeiro, Brasil, April-May 2024.
C93. T. Le Moigne, C. Mahulea, G. Faraut, "Optimizing Clinical Pathways: A Probabilistic Time Petri Net Approach," In 17th IFAC Workshop on Discrete Event Systems (WODES 2024), Rio de Janeiro, Brasil, April-May 2024.
C92. C. Arzola, C. Mahulea and J. Julvez, "Analysis and optimization of clinical pathways using timed continuous Petri nets," In 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), Sinaia, Romania, June 2023. [DOI]:10.1109/ETFA54631.2023.10275390
C91. I. Hustiu, M. Kloetzer and C. Mahulea, "Extension of a decomposition method for a global LTL specification," In 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), Sinaia, Romania, September 2023. [DOI]:10.1109/ETFA54631.2023.10275529
C90. C. Arzola, D. Latorre, G. Sacramento, C. Mahulea and J. Julvez, "Modeling and performance analysis of an industrial transport platform manufacturing process," In 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), Sinaia, Romania, September 2023. [DOI]:10.1109/ETFA54631.2023.10275422
C89. I. Hustiu, C. Mahulea and M. Kloetzer, "Software Tool for Distribution of Linear Temporal Logic Specifications," In 22nd IFAC World Congress, Yokohama, Japan, July 2023. [DOI]:10.1016/j.ifacol.2023.10.702
C88. S. Hustiu, D.V. Dimarogonas, C. Mahulea and M. Kloetzer, "Multi-robot Motion Planning under MITL Specifications based on Time Petri Nets," In 2023 European Control Conference (ECC), Bucharest, Romania, June 2023. [DOI]:10.23919/ECC57647.2023.10178302
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. [DOI]:10.1109/ICSTCC55426.2022.9931878
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. [DOI]:10.1016/j.ifacol.2022.10.326
C85. S. Hustiu, M. Kloetzer, A. Lopez-Martinez and C. Mahulea, "Whitening of greenhouses roof using drones and Petri net models," In ETFA 2022: 27th IEEE International Conference on Emerging Technologies and Factory Automation, Stuttgart, Germany, September 2022. [DOI]:10.1109/ETFA52439.2022.9921482
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. [DOI]:10.1109/ICSTCC52150.2021.9606861
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. [DOI]:10.1109/ETFA45728.2021.9613218
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. [DOI]:10.1109/CASE49439.2021.9551515
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 Cirugí\ADa Ortopédica y Traumatología (SECOT), Zaragoza, Septiembre 2019.
C76. J. Albareda, D. Clavel, L. Castan and C. Mahulea, "Cómo afectan diferentes polí\ADticas de programación y cancelación quirúrgicas a la eficiencia y calidad del servicio?," 56 Congreso de la Sociedad Española de Cirugí\ADa Ortopédica y Traumatologí\ADa (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]