On Multirobot Path Planning Based on Petri Net Models and LTL Specifications
Sofia Huştiu, Cristian Mahulea, Marius Kloetzer, Jean-Jacques Lesage · IEEE Transactions on Automatic Control · 2024
This paper proposes a method exploiting the advantages of Petri net (PN) and Büchi automata models, by joining them in a newly definedComposed Petri netrepresentation. Based on the latter model, collision-free trajectories are computed for a team of robots. The path planning algorithm is divided into two steps: computing a solution in a reduced PN model, and projecting it to the PN assigned to the environment. The results, given by a set of Mixed Integer Linear Programming (MILP) problems, yield lower computational complexity when compared with previous approaches.