Multi-robot routing and scheduling with temporal logic and synchronization constraints

We consider the problem of scheduling and planning the motion of a fleet of robots involved in semiconductor manufacturing. The robots are tasked with transportation demands of goods that must be fulfilled according to given time constraints and synchronization rules. The demands and synchronization rules are specified using Time Window Temporal Logic (TWTL). Inspiring by model checking techniques, we develop a solution able to guarantee to satisfy both demands and synchronization rules. The proposed approach is tested through simulation on a semiconductor production site of the European project "Power Semiconductor and Electronics Manufacturing 4.0 - (SemI40)".