Optimal security-aware path planning for linear temporal logic tasks under complex constraints

This paper explores the impact of environment constraints on safety assurance in the context of optimal path planning based on Linear Temporal Logic (LTL) tasks. First, the complex constraints can be divided in two part: hard and soft constraints, where the former represents mandatory requirements that must be met, and the latter may incur risks. To characterise both constraints, a bilayer Deterministic Rabin Automaton (DRA) model is introduced. Second, the security task is on protecting the agent's initial and final secret locations, and a self-composed Weighted Transition System (WTS) is constructed to capture this safety-related information flows. Further, a product system combining the bilayer DRA model and WTS is established to solve the problem of safety-aware and optimal path planning under LTL specifications. Meanwhile, an effective integrated algorithm is developed to find the optimal security-aware paths with constraints. An illustrative example shows the effectiveness of this method in theoretical analysis.