On Multirobot Path Planning Based on Petri Net Models and LTL Specifications

• 成果类型: Article
• 署名作者: Hustiu, Sofia; Mahulea, Cristian; Kloetzer, Marius; Lesage, Jean-Jacques
• 署名单位: GH Asachi Technical University; University of Zaragoza; Universite Paris Saclay
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3386024
• 发表日期: 2024
• 页码: 6373-6380
• 关键词: robots; computational modeling; Petri nets; Automata; trajectory; Collision avoidance; Task analysis; autonomous robots; formal methods; high-level specifications

摘要

This article proposes a method exploiting the advantages of Petri net (PN) and B & uuml;chi automata models by joining them in a newly defined composed PN 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.