Today I read a paper titled “Optimal Multi-Robot Path Planning with Temporal Logic Constraints”
The abstract is:
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