Multi-robot Motion Planning under MITL Specifications based on Time Petri Nets

This paper proposes a high-level path planning strategy under Time Petri net (TPN) formalism for a multi-agent system, which is subject to Metric Interval Temporal Logic (MITL) specifications. The work aims to design a scalable model with respect to the number of agents, as the MITL formula requires multiple agents to ensure similar tasks. The obtained model is denoted Composed Time Petri net and it couples two TPN representations assigned to the motion of the agents, respectively to the MITL specification. The planning approach is based on model-checking methods and the results are evaluated on a case study applied in robotics industry.