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.