Paper Info
Title
Distributed Path Planning Of Mobile Robots With Ltl Specifications
Abstract
This paper studies the path planning problem of mobile robots with high-level specifications, given as co-safe Linear Temporal Logic (LTL) formulas. Based on some results in literature that are allowing to distribute the specification among the robots, the first contribution of this paper is an algorithm that is allowing a decomposition of the formula in tasks that can be achieved only by one robot. Once the formula is decomposed, we adapt our previous results from centralized planning and we propose a mathematical program to assign the tasks to robots. A supporting example accompanies the proposed method.
Year
DOI
Venue
2020
10.1109/ICSTCC50638.2020.9259659
2020 24TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC)
Keywords
DocType
ISSN
Mobile robot, path planning, distributed systems, Petri nets
Conference
2372-1618
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Ioana Hustiu100.34
Marius Kloetzer247629.21
Cristian Mahulea316119.50