000165558 001__ 165558
000165558 005__ 20260113221444.0
000165558 0247_ $$2doi$$a10.1109/TASE.2025.3636053
000165558 0248_ $$2sideral$$a147279
000165558 037__ $$aART-2025-147279
000165558 041__ $$aeng
000165558 100__ $$aLv, Peng
000165558 245__ $$aCounting Time Temporal Logic for Multi-Robot Path Planning in Finite Horizons
000165558 260__ $$c2025
000165558 5060_ $$aAccess copy available to the general public$$fUnrestricted
000165558 5203_ $$aIn this paper, we consider multi-robot path planning problems for high-level tasks with a finite horizon. In many situations, there is a need to count how many times a sub-task is satisfied in order to achieve the overall task. However, existing temporal logic languages, such as linear temporal logic, is not efficient in describing such requirements. To address this issue, we propose a new temporal logic language called Counting Time Temporal Logic (CTTL) that extends linear temporal logic by explicitly counting the number of times that some tasks are satisfied. To solve the CTTL path planning problem, we propose an efficient integer linear programming-based method to encode task satisfaction. We show that our approach is both sound and complete, while achieving higher efficiency than direct encodings of such requirements. Moreover, we study several variants of the problem. To validate our results, we present several numerical experiments to show the scalability of the proposed approach and a simulation case study of a team of autonomous robots to illustrate the feasibility of the synthesis procedure. Finally, to evaluate the real-world feasibility of our method, we conduct a hardware experiment with two Turtlebot3-Burger mobile robots.
000165558 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T64-23R$$9info:eu-repo/grantAgreement/ES/MCIU/PID2024-159284NB-I00
000165558 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es
000165558 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000165558 700__ $$aLi, Shaoyuan
000165558 700__ $$0(orcid)0000-0003-0056-2225$$aMahulea, Cristian$$uUniversidad de Zaragoza
000165558 700__ $$aDenis, Bruno
000165558 700__ $$aFaraut, Gregory
000165558 700__ $$aYin, Xiang
000165558 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000165558 773__ $$g(2025), [11 pp.]$$pIEEE Trans. Autom. Sci. Eng.$$tIEEE Transactions on Automation Science and Engineering$$x1545-5955
000165558 8564_ $$s526255$$uhttps://zaguan.unizar.es/record/165558/files/texto_completo.pdf$$yPostprint
000165558 8564_ $$s3536163$$uhttps://zaguan.unizar.es/record/165558/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000165558 909CO $$ooai:zaguan.unizar.es:165558$$particulos$$pdriver
000165558 951__ $$a2026-01-13-22:10:39
000165558 980__ $$aARTICLE