On Multi-Robot Path Planning based on Petri Net Models and LTL Specifications

This paper proposes a method exploiting the advantages of Petri net (PN) and B¨uchi automata models, by joining them in a newly defined Composed Petri net representation. Based on the latter model, collision-free trajectories are computed for a team of robots. The path planning algorithm is divided...

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Bibliographic Details
Published inIEEE transactions on automatic control pp. 1 - 8
Main Authors Hustiu, Sofia, Mahulea, Cristian, Kloetzer, Marius, Lesage, Jean-Jacques J
Format Journal Article
LanguageEnglish
Published Institute of Electrical and Electronics Engineers 2024
Subjects
Automatic
Engineering Sciences
autonomous robots
High-level specifications
Petri nets
formal methods
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Summary:This paper proposes a method exploiting the advantages of Petri net (PN) and B¨uchi automata models, by joining them in a newly defined Composed Petri net representation. Based on the latter model, collision-free trajectories are computed for a team of robots. The path planning algorithm is divided into two steps: computing a solution in a reduced PN model, and projecting it to the PN assigned to the environment. The results, given by a set of Mixed Integer Linear Programming (MILP) problems, yield lower computational complexity when compared with previous approaches.
ISSN:0018-9286
DOI:10.1109/TAC.2024.3386024