Artículo
A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems
Autor/es | Caballero Gómez, Álvaro
Silano, Giuseppe |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2023-08 |
Fecha de depósito | 2023-09-05 |
Publicado en |
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Resumen | This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and ... This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained trajectories, considering payload capacity limitations and recharging constraints. Signal Temporal Logic (STL) specifications are employed to encode the mission objectives and temporal requirements. Additionally, an event-based replanning strategy is introduced to handle unforeseen failures. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation operations. The effectiveness and validity of the approach are demonstrated through simulations in MATLAB and Gazebo, as well as field experiments carried out in a mock-up scenario. |
Agencias financiadoras | MCIN/AEI/10.13039/501100011033 and the European Union NextGenerationEU/PRTR under Grant TED2021-131716B-C22 e European Union’s Horizon 2020 Research and Innovation Project AERIAL-CORE Grant 871479 |
Identificador del proyecto | TED2021-131716B-C22
EU H2020 871479 |
Cita | Caballero Gómez, Á. y Silano, G. (2023). A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems. IEEE Access, 11, 81361-81377. https://doi.org/10.1109/ACCESS.2023.3300240. |
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