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

被引：3

作者：

Hustiu, Sofia ^{[1
]}

Dimarogonas, Dimos V. ^{[2
]}

Mahulea, Cristian ^{[3
]}

Kloetzer, Marius ^{[1
]}

机构：

[1] Tech Univ Gheorghe Asachi Iasi, Dept Automat Control & Appl Informat, Iasi, Romania

[2] KTH Royal Inst Technol, Div Decis & Control Syst, Stockholm, Sweden

[3] Univ Zaragoza, Arag Inst Engn Res I3A, Maria Luna 1, Zaragoza 50018, Spain

来源：

2023 EUROPEAN CONTROL CONFERENCE, ECC | 2023年

关键词：

SYSTEMS; TASK;

D O I：

10.23919/ECC57647.2023.10178302

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：8

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