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

Sofia Hustiu (1) , Cristian Mahulea (2) , Marius Kloetzer (1) , Jean-Jacques J Lesage (3)

1 Technical University of Lasi
2 I3A - Aragón Institute of Engineering Research [Zaragoza]
3 LURPA - Laboratoire Universitaire de Recherche en Production Automatisée

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.

Mots clés: High-level specifications; formal methods; Petri nets; autonomous robots

Domaines: Automatique / Robotique

Sofia Hustiu, Cristian Mahulea, Marius Kloetzer, Jean-Jacques J Lesage. On Multi-Robot Path Planning based on Petri Net Models and LTL Specifications. IEEE Transactions on Automatic Control, 2024, pp.1-8. ⟨10.1109/TAC.2024.3386024⟩. ⟨hal-04542906⟩