Hierarchical multi-robot strategies synthesis and optimization under individual and collaborative temporal logic specifications

Ruofei Bai, Ronghao Zheng, Yang Xu, Meiqin Liu, Senlin Zhang

Abstract: Highlights•Multi-robot task planning under complex temporal logic specifications.•Robots locally synthesize strategies after centralized collaborative task allocation.•Distributed strategy adjusting to reduce robots’ wait time in collaborations.•High scalability and optimization efficiency in extensive simulations.