Early-Awareness Collision Avoidance in Optimal Multi-Agent Path Planning With Temporal Logic Specifications

Dear Editor, This letter investigates a multi-agent path planning problem in a road network with the requirement of avoiding collisions among all agents in the partitioned environment. We first abstract the agents to a set of transition systems, and construct a team transition system from these individual systems. A mechanism is designed for the team transition system to detect all collisions within the synthesized run. Then, “wait” and “go-back” transitions are added to the individual transition systems, while removing all possible collisions in the team transition system. Finally, two examples are given to illustrate the effectiveness of the proposed approach.