Cooperative Path Planning Based on Linear Temporal Logic and Petri Nets for Multiple Robots Building a Lunar Base

This paper focuses on multi-robot path planning for lunar base construction, which includes tasks such as exploration, resource acquisition, 3D printing, transportation, and quality inspection.Based on Linear Temporal Logic (LTL) formula and Petri nets, the path planning problem of multiple robots accomplishing those complex construction tasks is studied.Firstly, we model the lunar base environment using Petri nets and apply LTL formulas to specify construction tasks; next, we