On Multirobot Path Planning Based on Petri Net Models and LTL Specifications

This article proposes a method exploiting the advantages of Petri net (PN) and Büchi automata models by joining them in a newly defined
composed PN
representation. Based on the latter model, collision-free trajectories are computed for a team of robots. The path planning algorithm is divided into two steps: computing a solution in a reduced PN model and projecting it to the PN assigned to the environment. The results, given by a set of mixed integer linear programming (MILP) problems, yield lower computational complexity when compared with previous approaches.