Designing Petri Net Supervisors from LTL Specifications

We present a methodology to build a Petri net realization of a supervisor that, given a Petri net model of a (multi-)robot system and a linear temporal logic (LTL) specification, forces the system to fulfil the specification. The methodology includes composing the Petri net model with the Büchi automaton representing the LTL formula and trimming the result using a known method to reduce the size of the supervisor. Furthermore, we guarantee that the obtained supervisors are admissible by construction by restricting the LTL formulas that can be written to an appropriate subset. To illustrate the method, we provide an example on how to specify coordination rules for a team of simulated soccer robots.