Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 6, Issue 2, Pages 4169-4176Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3068114
Keywords
Aerial systems; applications; multi-robot systems; task and motion planning
Categories
Funding
- European Union's Horizon 2020 Research and Innovation Programme AERIAL-CORE [871479]
- CTU Grant [SGS20/174/OHK3/3 T/13]
- Czech Science Foundation (GAC. R) [19-22555Y, 20-10280S]
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A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications has been proposed. The planner allows for the formulation of complex missions, avoiding obstacles, maintaining safe distances, and considering energy minimization. An event-triggered replanner is used to respond to unforeseen events, with numerical simulations and experiments demonstrating the validity and effectiveness of the approach.
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this letter. The planner allows the formulation of complex missions that avoid obstacles and maintain a safe distance between drones while performing the planned mission. An optimization problem is set to generate optimal strategies that satisfy these specifications and also take vehicle constraints into account. Further, an event-triggered replanner is proposed to reply to unforeseen events and external disturbances. An energy minimization term is also considered to implicitly save quad-rotors battery life while carrying out the mission. Numerical simulations in MATLAB and experimental results show the validity and the effectiveness of the proposed approach, and demonstrate its applicability in real-world scenarios.
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