论文标题
基于Petri Net模型和LTL规格的多机器人路径计划
On Multi-Robot Path Planning Based on Petri Net Models and LTL specifications
论文作者
论文摘要
这项工作考虑了在已知环境中发展的相同机器人团队的路径计划问题。机器人应满足作为线性时间逻辑（LTL）公式在一组感兴趣区域上给出的全局规范。所提出的方法利用了培养皿机器人团队和Büchi自动机对规范进行建模的优势。本文中的方法包括将两个模型组合到一个模型中，表示组成的培养皿，并使用它来为移动机器人找到一系列动作运动，从而提供了无冲突的轨迹来满足规范。该解决方案是由一组混合整数线性编程（MILP）问题引起的。提出的解决方案的主要优点是算法的完整性，这意味着在存在时找到了解决方案，这代表了我们先前[1]中的工作的关键差异。模拟说明了当前和以前的方法之间的比较结果，重点是计算复杂性。
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest. The proposed method exploits the advantages of Petri net models for the team of robots and Büchi automata modeling the specification. The approach in this paper consists in combining the two models into one, denoted Composed Petri net and use it to find a sequence of action movements for the mobile robots, providing collision free trajectories to fulfill the specification. The solution results from a set of Mixed Integer Linear Programming (MILP) problems. The main advantage of the proposed solution is the completeness of the algorithm, meaning that a solution is found when exists, this representing the key difference with our previous work in [1]. The simulations illustrate comparison results between current and previous approaches, focusing on the computational complexity.
