doi:10.1109/TAC.2024.3386024engHustiu, SofiaMahulea, CristianKloetzer, MariusLesage, Jean-JacquesOn Multi-Robot Path Planning based on Petri Net Models and LTL SpecificationsART-2024-138585This paper proposes a method exploiting the advantages of Petri net (PN) and Büchi automata models, by joining them in a newly defined Composed Petri net representation. Based on the latter model, collision-free trajectories are computed for a team of robots. The path planning algorithm is divided into two steps: computing a solution in a reduced PN model, and projecting it to the PN assigned to the environment. The results, given by a set of Mixed Integer Linear Programming (MILP) problems, yield lower computational complexity when compared with previous approaches.2024http://zaguan.unizar.es/record/14764010.1109/TAC.2024.3386024http://zaguan.unizar.es/record/147640oai:zaguan.unizar.es:147640info:eu-repo/grantAgreement/EUR/AEI/TED2021-130449B-I00info:eu-repo/grantAgreement/ES/MICINN/PID2021-125514NB-I00IEEE TRANSACTIONS ON AUTOMATIC CONTROL 69, 9 (2024), 6373-6380All rights reservedhttp://www.europeana.eu/rights/rr-f/info:eu-repo/semantics/openAccess