Abstract
This paper proposes a path planning approach for multi-agent systems (MASs) with Alternating Projection Temporal Logic (APTL). Our approach aims to calculate a path efficiently which satisfies specific properties in a MAS. The MAS is formalized in an interpreted system, then symbolically represented, and properties of paths are expressed by APTL formulas. We implement a robotic soccer game in order to illustrate the availability of this approach, actions and strategies of each robot are described in detail in interpreted system. The toolkit MCMAS_APTL2 has been developed, where we just enter an APTL formula of specific properties and the model of the robotic soccer game into the toolkit, then a path satisfies the formula is calculated and provided.
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