Cristian Mahulea

93 papers B 2C 22Journal 26Unranked 39
YearRankTypeTitle / Venue / Authors
2026 J jnl
Counting Time Temporal Logic for Multi-Robot Path Planning in Finite Horizons.
IEEE Trans Autom. Sci. Eng.
Peng Lv, Shaoyuan Li, Cristian Mahulea, Bruno Denis, Gregory Faraut, Xiang Yin
2026 J jnl
Decoupling Geometric Planning and Execution in Scalable Multi-Agent Path Finding.
CoRR
Fernando Salanova, Cristian Mahulea, Eduardo Montijano
2026 J jnl
Multi-robot motion planning based on Nets-within-Nets modeling and simulation.
Robotics Auton. Syst.
Sofia Hustiu, Joaquín Ezpeleta, Cristian Mahulea, Marius Kloetzer
2026 J jnl
TIMID: Time-Dependent Mistake Detection in Videos of Robot Executions.
CoRR
Nerea Gallego, Fernando Salanova, Claudio Mannarano, Cristian Mahulea, Eduardo Montijano
2025 C conf
Decomposition of LTL specifications via formal concurrency relations in Büchi automata.
ETFA
Ioana Hustiu, Marius Kloetzer, Cristian Mahulea
2025 J jnl
Efficient Path Planning and Task Allocation Algorithm for Boolean Specifications.
CoRR
Ioana Hustiu, Roozbeh Abolpour, Cristian Mahulea, Marius Kloetzer
2025 — conf
Motion Planning for Mobile Robots Through Iterative Task Allocation.
CCTA
Ioana Hustiu, Marius Kloetzer, Cristian Mahulea
2025 J jnl
Probabilistic timed Petri nets for clinical pathway design and analysis: a case study.
Discret. Event Dyn. Syst.
Manon Le Moigne, Cristian Mahulea, Gregory Faraut, Simona Bernardi, Jorge Albareda, Lidia Castán
2025 C conf
Smooth path planning with safety margins using Piece-Wise Bezier curves.
ETFA
Iancu Andrei, Marius Kloetzer, Cristian Mahulea, Catalin Dosoftei
2025 J jnl
Smooth path planning with safety margins using Piece-Wise Bezier curves.
CoRR
Iancu Andrei, Marius Kloetzer, Cristian Mahulea, Catalin Dosoftei
2025 — conf
State Opacity via Structural Observability in Continuous Petri Nets.
CASE
Cristian Mahulea
2024 — conf
An Optimal Sensor Placement Strategy for Continuous Petri Nets.
CASE
Cristian Mahulea
2024 J jnl
On Multirobot Path Planning Based on Petri Net Models and LTL Specifications.
IEEE Trans. Autom. Control.
Sofia Hustiu, Cristian Mahulea, Marius Kloetzer, Jean-Jacques Lesage
2024 — conf
Planning strategy based on visibility graph and traveling salesman problem with time window constraints.
ICSTCC
Mihaela-Alexandra Barb-Ciorbea, Marius Kloetzer, Cristian Mahulea
2023 C conf
Analysis and optimization of clinical pathways using timed continuous Petri nets.
ETFA
César Arzola, Cristian Mahulea, Jorge Júlvez
2023 C conf
Extension of a decomposition method for a global LTL specification.
ETFA
Ioana Hustiu, Marius Kloetzer, Cristian Mahulea
2023 C conf
Modeling and performance analysis of an industrial transport platform manufacturing process.
ETFA
César Arzola, Daniel Latorre, Germán Sacramento, Cristian Mahulea, Jorge Júlvez
2023 J jnl
Multi-robot Motion Planning based on Nets-within-Nets Modeling and Simulation.
CoRR
Sofia Hustiu, Eva Robillard, Joaquin Ezpeleta, Cristian Mahulea, Marius Kloetzer
2023 — conf
Multi-robot Motion Planning under MITL Specifications based on Time Petri Nets.
ECC
Sofia Hustiu, Dimos V. Dimarogonas, Cristian Mahulea, Marius Kloetzer
2023 J jnl
On Liveness Enforcement of Distributed Petri Net Systems.
IEEE Trans. Autom. Control.
Daniel Clavel, Cristian Mahulea, Manuel Silva
2022 — conf
Distributing Co-safe LTL Specifications to Mobile Robots.
ICSTCC
Ioana Hustiu, Cristian Mahulea, Marius Kloetzer
2022 J jnl
On Multi-Robot Path Planning Based on Petri Net Models and LTL specifications.
CoRR
Sofia Hustiu, Cristian Mahulea, Marius Kloetzer, Jean-Jacques Lesage
2022 C conf
Whitening of greenhouse's roof using drones and Petri net models
ETFA
Sofia Hustiu, Marius Kloetzer, Alejandro López-Martínez, Cristian Mahulea
2021 — conf
Mission assignment and 3D path planning for a team of UAVs.
ICSTCC
Sofia Hustiu, Marius Kloetzer, Cristian Mahulea
2021 C conf
Optimal task allocation for distributed co-safe LTL specifications.
ETFA
Ioana Hustiu, Cristian Mahulea, Marius Kloetzer
2021 — conf
Probabilistic Multi-Robot Path Planning with High-Level Specifications using Petri Net Models.
CASE
Eduardo Montijano, Cristian Mahulea
2020 — conf
Distributed Path Planning of Mobile Robots with LTL Specifications.
ICSTCC
Ioana Hustiu, Marius Kloetzer, Cristian Mahulea
2020 J jnl
On Liveness Enforcement of Distributed Petri Net Systems.
CoRR
Daniel Clavel, Cristian Mahulea, Manuel Silva
2020 J jnl
Path planning for robotic teams based on LTL specifications and Petri net models.
Discret. Event Dyn. Syst.
Marius Kloetzer, Cristian Mahulea
2019 B conf
From Healthcare System Specifications to Formal Models.
SMC
Daniel Clavel, Cristian Mahulea, Manuel Silva
2019 C conf
Optimal Indoor Goods Delivery Using Drones.
ETFA
Marius Kloetzer, Adrian Burlacu, Gabriel Enescu, Simona Caraiman, Cristian Mahulea
2019 J jnl
Toward a decision support system for the clinical pathways assessment.
Discret. Event Dyn. Syst.
Simona Bernardi, Cristian Mahulea, Jorge Albareda
2018 C conf
Path-planning in Discretized Environments with Optimized Waypoints Computation.
ETFA
Emanuele Vitolo, Cristian Mahulea, Marius Kloetzer
2018 — conf
Performance Evaluation of the Dyna-Q algorithm for Robot Navigation.
CASE
Emanuele Vitolo, Alberto San Miguel, Javier Civera, Cristian Mahulea
2018 J jnl
Robot Planning Based on Boolean Specifications Using Petri Net Models.
IEEE Trans. Autom. Control.
Cristian Mahulea, Marius Kloetzer
2017 J jnl
Decentralized observability of discrete event systems with synchronizations.
Autom.
Alessandro Giua, Cristian Mahulea, Carla Seatzu
2017 — conf
HEAT: A tool to develop, analyze and monitor clinical pathways.
ICNSC
Luis Parrilla, José García, Jorge Albareda, Cristian Mahulea
2017 C conf
Towards efficient algorithms for planning surgeries in operation rooms.
ETFA
Daniel Clavel, Cristian Mahulea, Jorge Albareda, Manuel Silva Suárez
2016 — conf
Multi-robot path planning for syntactically co-safe LTL specifications.
WODES
Marius Kloetzer, Cristian Mahulea
2016 — conf
On liveness enforcement of DSSP net systems.
CDC
Daniel Clavel, Cristian Mahulea, Manuel Silva Suárez
2016 C conf
Operation planning of elective patients in an Orthopedic Surgery Department.
ETFA
Daniel Clavel, Cristian Mahulea, Jorge Albareda, Manuel Silva Suárez
2015 — conf
A Matlab-based interactive simulator for mobile robotics.
CASE
Ramon Gonzalez, Cristian Mahulea, Marius Kloetzer
2015 — conf
Accomplish multi-robot tasks via Petri net models.
CASE
Marius Kloetzer, Cristian Mahulea
2015 — conf
Collision avoidance of mobile robots by using initial time delays.
CDC
Xu Wang, Marius Kloetzer, Cristian Mahulea, Manuel Silva Suárez
2015 J jnl
Diagnosis of Time Petri Nets Using Fault Diagnosis Graph.
IEEE Trans. Autom. Control.
Xu Wang, Cristian Mahulea, Manuel Silva Suárez
2015 J jnl
LTL-Based Planning in Environments With Probabilistic Observations.
IEEE Trans Autom. Sci. Eng.
Marius Kloetzer, Cristian Mahulea
2014 J jnl
A Petri net based approach for multi-robot path planning.
Discret. Event Dyn. Syst.
Marius Kloetzer, Cristian Mahulea
2014 J jnl
A control method for distributed continuous mono-T-semiflow Petri nets.
Int. J. Control
Hanife Apaydin Özkan, Cristian Mahulea, Jorge Júlvez, Manuel Silva Suárez
2014 C conf
A model-based approach for the specification and verification of clinical guidelines.
ETFA
Simona Bernardi, José Manuel Colom, Jorge Albareda, Cristian Mahulea
2014 C conf
An assembly problem with mobile robots.
ETFA
Marius Kloetzer, Cristian Mahulea
2014 C conf
Deadlock prevention policy for S
ETFA
Xu Wang, Cristian Mahulea, Manuel Silva Suárez
2014 — conf
Model Checking on Fault Diagnosis Graph.
WODES
Xu Wang, Cristian Mahulea, Manuel Silva Suárez
2014 — conf
Planning mobile robots with Boolean-based specifications.
CDC
Cristian Mahulea, Marius Kloetzer
2013 — ch.
Continuous Petri Nets: Controllability and Control.
Control of Discrete-Event Systems
Jorge Júlvez, Carlos Renato Vázquez, Cristian Mahulea, Manuel Silva
2013 — ch.
Continuous Petri Nets: Observability and Diagnosis.
Control of Discrete-Event Systems
Cristian Mahulea, Jorge Júlvez, Carlos Renato Vázquez, Manuel Silva
2013 C conf
Decentralized diagnosis based on fault diagnosis graph.
ETFA
Xu Wang, Cristian Mahulea, Manuel Silva Suárez
2013 — conf
Distributed Model Predictive Control of timed continuous Petri nets.
CDC
Liewei Wang, Cristian Mahulea, Manuel Silva Suárez
2013 — conf
Fault Diagnosis Graph of time Petri nets.
ECC
Xu Wang, Cristian Mahulea, Manuel Silva
2013 — ch.
Introduction to Fluid Petri Nets.
Control of Discrete-Event Systems
Carlos Renato Vázquez, Cristian Mahulea, Jorge Júlvez, Manuel Silva
2013 — conf
Minimum-time flow control of timed continuous Choice-Free nets.
ECC
Liewei Wang, Cristian Mahulea, Manuel Silva
2013 C conf
Petri net approach for deadlock prevention in robot planning.
ETFA
Marius Kloetzer, Cristian Mahulea, José Manuel Colom
2012 — conf
Control of continuous Petri nets using ON/OFF based method.
WODES
Liewei Wang, Cristian Mahulea, Jorge Júlvez, Manuel Silva Suárez
2012 J jnl
Fault Diagnosis of Discrete-Event Systems Using Continuous Petri Nets.
IEEE Trans. Syst. Man Cybern. Part A
Cristian Mahulea, Carla Seatzu, Maria Paola Cabasino, Manuel Silva Suárez
2012 — conf
LTL planning in dynamic environments.
WODES
Marius Kloetzer, Cristian Mahulea
2012 C conf
Modular Petri net modeling of the Spanish health system.
ETFA
Cristian Mahulea, Juan-Manuel Garcia-Soriano, José Manuel Colom
2012 C conf
Online Petri net based algorithm for planning and controlling mobile robots.
ETFA
Cristian Mahulea, Marius Kloetzer
2011 C conf
A probabilistic abstraction approach for planning and controlling mobile robots.
ETFA
Marius Kloetzer, Cristian Mahulea, Octavian Pastravanu
2011 — conf
Analysis and simulation of manufacturing systems using SimHPN toolbox.
CASE
Jorge Júlvez, Cristian Mahulea, Carlos Renato Vázquez
2011 — conf
On decentralized observability of discrete event systems.
CDC/ECC
Maria Paola Cabasino, Alessandro Giua, Cristian Mahulea, Carla Seatzu
2011 J jnl
On fluidization of discrete event models: observation and control of continuous Petri nets.
Discret. Event Dyn. Syst.
Manuel Silva Suárez, Jorge Júlvez, Cristian Mahulea, Carlos Renato Vázquez
2010 C conf
A control method for timed distributed continuous Petri nets.
ACC
Hanife Apaydin Özkan, Jorge Júlvez, Cristian Mahulea, Manuel Silva
2010 J jnl
An Automated Framework for Formal Verification of Timed Continuous Petri Nets.
IEEE Trans. Ind. Informatics
Marius Kloetzer, Cristian Mahulea, Calin Belta, Manuel Silva Suárez
2010 — conf
An iterative control method for distributed continuous Petri nets.
CDC
Hanife Apaydin Özkan, Cristian Mahulea, Jorge Júlvez, Manuel Silva Suárez
2010 B conf
Fault diagnosis of manufacturing systems using continuous Petri nets.
SMC
Maria Paola Cabasino, Carla Seatzu, Cristian Mahulea, Manuel Silva Suárez
2010 — conf
Minimum-time control for structurally persistent continuous Petri Nets.
CDC
Liewei Wang, Cristian Mahulea, Jorge Júlvez, Manuel Silva Suárez
2010 — conf
On the Importance of the Deadlock Trap Property for Monotonic Liveness.
ACSD/Petri Nets Workshops
Monika Heiner, Cristian Mahulea, Manuel Silva Suárez
2010 — conf
SimHPN: A MATLAB toolbox for continuous Petri nets.
WODES
Jorge Júlvez, Cristian Mahulea
2009 — ed.
3rd IFAC Conference on Analysis and Design of Hybrid Systems, ADHS 2009, Zaragoza, Spain, September 16-18, 2009
ADHS
Alessandro Giua, Cristian Mahulea, Manuel Silva, Janan Zaytoon
2009 — conf
An Efficient Heuristics for Minimum Time Control of Continuous Petri nets.
ADHS
Hanife Apaydin Özkan, Jorge Júlvez, Cristian Mahulea, Manuel Silva
2009 J jnl
Basic Server Semantics and Performance Monotonicity of Continuous Petri Nets.
Discret. Event Dyn. Syst.
Cristian Mahulea, Laura Recalde, Manuel Silva Suárez
2009 C conf
Constrained invariant motions for networked multi-agent systems.
ACC
Mauro Franceschelli, Magnus Egerstedt, Alessandro Giua, Cristian Mahulea
2009 — conf
Fault diagnoser design for untimed continuous Petri nets.
CCA/ISIC
Carla Seatzu, Cristian Mahulea, Maria Paola Cabasino, Manuel Silva Suárez
2009 — conf
New results for fault detection of untimed continuous Petri nets.
CDC
Carla Seatzu, Maria Paola Cabasino, Cristian Mahulea, Manuel Silva Suárez
2009 C conf
Observer design for untimed continuous Petri nets.
ACC
Cristian Mahulea, Carla Seatzu, Maria Paola Cabasino, Laura Recalde, Manuel Silva
2009 — conf
Preface.
ADHS
Alessandro Giua, Cristian Mahulea, Manuel Silva, Janan Zaytoon
2008 — conf
Formal analysis of timed continuous Petri nets.
CDC
Marius Kloetzer, Cristian Mahulea, Calin Belta, Laura Recalde, Manuel Silva Suárez
2008 J jnl
Optimal Model Predictive Control of Timed Continuous Petri Nets.
IEEE Trans. Autom. Control.
Cristian Mahulea, Alessandro Giua, Laura Recalde, Carla Seatzu, Manuel Silva Suárez
2008 J jnl
Steady-State Control Reference and Token Conservation Laws in Continuous Petri Net Systems.
IEEE Trans Autom. Sci. Eng.
Cristian Mahulea, Antonio Ramírez-Treviño, Laura Recalde, Manuel Silva Suárez
2007 — conf
A state estimation problem for timed continuous Petri nets.
CDC
Cristian Mahulea, Maria Paola Cabasino, Alessandro Giua, Carla Seatzu
2007 — conf
State Estimation of Petri Nets by Transformation.
CASE
Maria Paola Cabasino, Alessandro Giua, Cristian Mahulea, Laura Recalde, Carla Seatzu, Manuel Silva Suárez
2006 — conf
Improving analysis and simulation of continuous Petri Nets.
CASE
Laura Recalde, Cristian Mahulea, Manuel Silva Suárez
2006 — conf
On Sampling continuous Timed Petri Nets: Reachability "Equivalence" under Infinite Servers Semantics.
ADHS
Cristian Mahulea, Alessandro Giua, Laura Recalde, Carla Seatzu, Manuel Silva
2006 — conf
Optimal Control of Timed Continuous Petri Nets via Explicit MPC.
POSTA
Alessandro Giua, Cristian Mahulea, Laura Recalde, Carla Seatzu, Manuel Silva