Temporal Logic Task Allocation in Heterogeneous Multi-Robot Systems

by   Xusheng Luo, et al.

In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their different capabilities, and each task may require robots of multiple types. The specific robots assigned to each task are immaterial, as long as they are of the desired type. Given a discrete workspace, our goal is to design paths, i.e., sequences of discrete states, for the robots so that the LTL specification is satisfied. To obtain a scalable solution to this complex temporal logic task allocation problem, we propose a hierarchical approach that first allocates specific robots to tasks using the information about the tasks contained in the Nondeterministic Buchi Automaton (NBA) that captures the LTL specification, and then designs low-level executable plans for the robots that respect the high-level assignment. Specifically, we first prune and relax the NBA by removing all negative atomic propositions. This step is motivated by "lazy collision checking" methods in robotics and allows to simplify the planning problem by checking constraint satisfaction only when needed. Then, we extract sequences of subtasks from the relaxed NBA along with their temporal orders, and formulate a Mixed Integer Linear Program (MILP) to allocate these subtasks to the robots. Finally, we define generalized multi-robot path planning problems to obtain low-level executable robot plans that satisfy both the high-level task allocation and the temporal constraints captured by the negative atomic propositions in the original NBA. We provide theoretical results showing completeness and soundness of our proposed method and present numerical simulations demonstrating that our method can generate robot paths with lower cost, considerably faster than existing methods.


Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots

Given a heterogeneous group of robots executing a complex task represent...

Resilient Temporal Logic Planning in the Presence of Robot Failures

Several task and motion planning algorithms have been proposed recently ...

Multi-Robot Data Gathering Under Buffer Constraints and Intermittent Communication

We consider a team of heterogeneous robots which are deployed within a c...

Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications

This paper investigates the task coordination of multi-robot where each ...

Conformal Temporal Logic Planning using Large Language Models: Knowing When to Do What and When to Ask for Help

This paper addresses a new motion planning problem for mobile robots tas...

Multirobot Coordination with Counting Temporal Logics

In many multirobot applications, planning trajectories in a way to guara...

Specification mining and automated task planning for autonomous robots based on a graph-based spatial temporal logic

We aim to enable an autonomous robot to learn new skills from demo video...

Please sign up or login with your details

Forgot password? Click here to reset