Extension of Counting LTL and Its Application to a Path Planning Problem for Heterogeneous Multi-Robot Systems
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- NAGAE Kotaro
- Graduate School of Engineering Science, Osaka University
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- USHIO Toshimitsu
- Faculty of Science and Tehcnology, Nanzan University
Description
<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>
Journal
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- IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
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IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E107.A (5), 752-761, 2024-05-01
The Institute of Electronics, Information and Communication Engineers
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Details 詳細情報について
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- CRID
- 1390018518955941760
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- ISSN
- 17451337
- 09168508
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- Text Lang
- en
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed