  This work considers the path planning problem for a team of identical robots
evolving in a known environment. The robots should satisfy a global
specification given as a Linear Temporal Logic (LTL) formula over a set of
regions of interest. The proposed method exploits the advantages of Petri net
models for the team of robots and B\"uchi automata modeling the specification.
The approach in this paper consists in combining the two models into one,
denoted Composed Petri net and use it to find a sequence of action movements
for the mobile robots, providing collision free trajectories to fulfill the
specification. The solution results from a set of Mixed Integer Linear
Programming (MILP) problems. The main advantage of the proposed solution is the
completeness of the algorithm, meaning that a solution is found when exists,
this representing the key difference with our previous work in [1]. The
simulations illustrate comparison results between current and previous
approaches, focusing on the computational complexity.
