Simultaneous Task Allocation and Planning

When planning behaviors for a multi-robot system based on a Temporal Logic specification of the mission, not only actions need to be planned, but also allocation of parts of the mission needs to be considered. Classically, this is seen as two independent problems. However, utilizing the interplay of allocation and planning bears the potential of improving the efficiency to find an optimal solution.This abstract has been presented at the workshop "The What without the How: Specifying Planning Problems in Robotic" as part of the conference Robotics Science and Systems (RSS), 2017.QC 20170822