Parallel decomposition and concurrent satisfaction for heterogeneous multi-robot task and motion planning under temporal logic specifications

Ubuntu18.0 ROS Melodic Python2 JAVA 8.0+

---

This project contains the task planning package (automaton-based formal synthesis) with JAVA; and motion planning package (Turtlebot3) with ROS. Each package has a folder, i.e., "task_planning_pkg" and "ros_pkgs". Each folder contains its own read me files. Please explore into each foler for the readme.md files.

Package1. task_planning_pkg (ouput task plan in a string format)

Package2. ros_pkgs (refer to the results from Package1 and conduct motion simulation in Gazebo)

results. comparison results in a table

turtlebot3, turtlebot3_msgs, turtlebot3_simulations are the preliminary packages from the official repository of turtbot3 website https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/

Note outputs of two packages are separate and cannot automatically connnect with each other.