Prioritize Team Actions: Multi-Agent Temporal Logic Task Planning with Ordering Constraints
arxiv(2024)
摘要
In this paper, we investigate the problem of linear temporal logic (LTL) path
planning for multi-agent systems, introducing the new concept of ordering
constraints. Specifically, we consider a generic objective function that is
defined for the path of each individual agent. The primary objective is to find
a global plan for the team of agents, ensuring they collectively meet the
specified LTL requirements. Simultaneously, we aim to maintain a pre-determined
order in the values of the objective function for each agent, which we refer to
as the ordering constraints. This new requirement stems from scenarios like
security-aware planning, where relative orders outweigh absolute values in
importance. We present an efficient algorithm to solve this problem, supported
by proofs of correctness that demonstrate the optimality of our solution.
Additionally, we provide a case study in security-aware path planning to
illustrate the practicality and effectiveness of our proposed approach.
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