A Methodology for Movement Planning in Autonomous Systems with Multiple Agents
Martinez V. Jorge Luis, Germán Andrés Holguín Londoño, Holguin L. Mauricio · 2018
In this paper, we present a methodology for the automatic synthesis of control strategies using temporal logics and Petri networks. Our method is applied to movement planning in autonomous systems with multiple agents. We propose a method to compute optimal routes for a team of multiple agents. Our proposed method is optimal with respect to the number of transitions executed by all team members. Linear Temporal Logic (LTL) is used as a language for task specification. Our method uses Petri Networks (PN) to model the multi-agent environment. Finally, we present an algorithm that implements the proposed method and its corresponding validation experiments.