165558 20260113221444.0 doi 10.1109/TASE.2025.3636053 sideral 147279 ART-2025-147279 eng Lv, Peng Counting Time Temporal Logic for Multi-Robot Path Planning in Finite Horizons 2025 Access copy available to the general public Unrestricted In 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. info:eu-repo/grantAgreement/ES/DGA/T64-23R info:eu-repo/grantAgreement/ES/MCIU/PID2024-159284NB-I00 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Li, Shaoyuan Mahulea, Cristian Universidad de Zaragoza (orcid)0000-0003-0056-2225 Denis, Bruno Faraut, Gregory Yin, Xiang 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. (2025), [11 pp.] IEEE Trans. Autom. Sci. Eng. IEEE Transactions on Automation Science and Engineering 1545-5955 526255 http://zaguan.unizar.es/record/165558/files/texto_completo.pdf Postprint 3536163 http://zaguan.unizar.es/record/165558/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:165558 articulos driver 2026-01-13-22:10:39 ARTICLE