Optimal Multi-Robot Path Planning with LTL Constraints: Guaranteeing Correctness through Synchronization

@inproceedings{Ulusoy2012OptimalMP,
  title={Optimal Multi-Robot Path Planning with LTL Constraints: Guaranteeing Correctness through Synchronization},
  author={Alphan Ulusoy and Stephen L. Smith and Calin Belta},
  booktitle={DARS},
  year={2012}
}
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated deviation values that capture the non-determinism in the traveling times of the robot during its deployment. The mission is given as a Linear Temporal Logic (LTL) formula over a set of propositions satisfied at the regions of the environment. Additionally, we have… CONTINUE READING