An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Temporal Logic Goals and Travel Duration Uncertainty
Kaier Liang,Gustavo A. Cardona,Cristian-Ioan Vasile,Kaier Liang,Gustavo A. Cardona,Cristian-Ioan Vasile
This paper introduces an iterative approach to multi-agent route planning under chance constraints. A heterogeneous team of agents with various capabilities is tasked with a Capability Temporal Logic (CaTL) mission, a fragment of Signal Temporal Logic. The agents’ motion is modeled as a finite weighted graph, where the weights represent travel durations. Given the probability distribution over the...
