Optimal multi-robot path planning with Temporal Logic constraints

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.

Authors

• Alphan Ulusoy
• Stephen L. Smith 0001
• Xu Chu Ding
• Calin Belta
• Daniela Rus

Keywords

• Clocks
• Automata
• Roads
• Cost accounting
• Monitoring
• Robot motion
• Optimal Path
• Temporal Logic
• Temporal Logic Constraints
• Maximum Time
• Road Network
• Transit System
• Robots In Environments
• Robotic Group
• Robot Path
• Infinity
• Cost Function
• Path Planning
• Mixed Integer Linear Programming
• Vehicle Routing
• Depth-first
• Model Checking
• Infinite Sequence
• Set Of Propositions
• Swarm Robotics
• Optimization Run
• Team Behavior
• Multiple Robots
• Individual Robots