Planning mobile robots with Boolean-based specifications

This research proposes an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The specification consists of logical requirements over some regions of interest for the agents´ trajectories and for their final states. A Petri net (PN) with outputs models the movement capabilities of the team and the active regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities are formulated as linear constraints on PN markings, and the evaluations of the binary variables are linked with PN markings via linear inequalities. This allows us to solve a Mixed Integer Linear Programming problem whose solution yields robotic trajectories satisfying the task.