Optimal multi-robot path planning with temporal logic constraints
Author(s)Ulusoy, Alphan; Smith, Stephen L.; Ding, Xu Chu; Belta, Calin; Rus, Daniela L.
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In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The mission is given as a Linear Temporal Logic formula. In addition, an optimizing proposition must repeatedly be satisfied. The goal is to minimize the maximum time between satisfying instances of the optimizing proposition. Our method is guaranteed to compute an optimal set of robot paths. We utilize a timed automaton representation in order to capture the relative position of the robots in the environment. We then obtain a bisimulation of this timed automaton as a finite transition system that captures the joint behavior of the robots and apply our earlier algorithm for the single robot case to optimize the group motion. We present a simulation of a persistent monitoring task in a road network environment.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. School of Engineering
IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 (IROS)
Institute of Electrical and Electronics Engineers (IEEE)
Ulusoy, Alphan et al. “Optimal Multi-robot Path Planning with Temporal Logic Constraints.” IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 (IROS). 3087–3092.
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