Optimal Multi-Robot Path Planning with Temporal Logic Constraints

TL;DR

This paper introduces a method for optimal multi-robot path planning that satisfies high-level mission specifications expressed in Linear Temporal Logic, optimizing the timing of repeated mission-critical actions.

Contribution

It extends existing planning algorithms to handle multi-robot systems with temporal logic constraints and guarantees optimal solutions for group motion planning.

Findings

Successfully computes optimal robot paths satisfying complex temporal constraints.

Uses timed automata and bisimulation for efficient multi-robot coordination.

Demonstrates effectiveness in a persistent monitoring simulation.

Abstract

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.