We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of an Linear Temporal Logic (LTL) formula. The state-of-the-art approach to this problem employs the automata-theoretic model checking technique to solve this problem. This approach involves computation of a product graph of the Buchi automaton generated from the LTL specification and a joint transition system which captures the collective motion of the robots and then computation of the shortest path using Dijkstra's shortest path algorithm. We propose MT*, an algorithm that reduces the computation burden for generating such plans for multi-robot systems significantly. Our approach generates a reduced version of the product graph without computing the complete joint transition system, which is computationally expensive. It then divides the complete mission specification among the participating robots and generates the trajectories for the individual robots independently. Our approach demonstrates substantial speedup in terms of computation time over the state-of-the-art approach, and unlike the state of the art approach, scales well with both the number of robots and the size of the workspace

中文翻译：

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MT *：用于时间逻辑规范的多机器人路径规划

我们为满足复杂的高级任务规范（以线性时序逻辑（LTL）公式形式给出）的一组机器人解决了路径规划问题。解决此问题的最新方法采用自动理论模型检查技术来解决此问题。这种方法涉及计算从LTL规范生成的Buchi自动机的乘积图和捕获机器人集体运动的联合过渡系统，然后使用Dijkstra的最短路径算法计算最短路径。我们提出了MT *，这是一种算法，可大大减少为多机器人系统生成此类计划所需的计算负担。我们的方法无需生成完整的联合过渡系统即可生成产品图的简化版本，这在计算上是昂贵的。然后，它在参与的机器人之间划分完整的任务规格，并分别为各个机器人生成轨迹。我们的方法在计算时间方面展示了超过最先进方法的速度，并且与最新方法不同，它在机器人数量和工作空间大小方面都可以很好地扩展