Extension of Counting LTL and Its Application to a Path Planning Problem for Heterogeneous Multi-Robot Systems

DOI Web Site

抄録

<p>We address a path planning problem for heterogeneous multi-robot systems under specifications consisting of temporal constraints and routing tasks such as package delivery services. The robots are partitioned into several groups based on their dynamics and specifications. We introduce a concise description of such tasks, called a work, and extend counting LTL to represent such specifications. We convert the problem into an ILP problem. We show that the number of variables in the ILP problem is fewer than that of the existing method using cLTL+. By simulation, we show that the computation time of the proposed method is faster than that of the existing method.</p>

収録刊行物

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ