The repository is for "Parallel Task Decomposition and Concurrent Specification Satisfaction for Heterogeneous Multi-Robot Symbolic Motion Planning". It contains the packages
- Decomposition (Parallel decompose the finite words of deterministic automaton)
- TaskAllocAut (Assign robots to atomic tasks of task automaton; generate the subtask planning automaton (SPA) and search for the optimal task planning solution)
Note: These packages need JAVA 8.0+ library. It compiles and runs well with Eclipse IDE.
- mrs_taskplan (ROS package. Deploy robots to the generated task plans; search for the paths in the discrete environment so that the task plans are satisfied.)