Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910776745263104 |
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| author | Silano, Giuseppe Caballero, Alvaro Liuzza, Davide Iannelli, Luigi Bogdan, Stjepan Saska, Martin |
| author_facet | Silano, Giuseppe Caballero, Alvaro Liuzza, Davide Iannelli, Luigi Bogdan, Stjepan Saska, Martin |
| contents | This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths that adhere to time-sensitive constraints and vehicle limitations by formulating an optimization problem based on Signal Temporal Logic (STL) specifications. An event-triggered replanning mechanism addresses unexpected events and delays, while a generalized robustness scoring method incorporates user preferences and minimizes task conflicts. The approach is validated through simulations in MATLAB and Gazebo, as well as field experiments in a mock-up scenario. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_06620 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study Silano, Giuseppe Caballero, Alvaro Liuzza, Davide Iannelli, Luigi Bogdan, Stjepan Saska, Martin Robotics This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths that adhere to time-sensitive constraints and vehicle limitations by formulating an optimization problem based on Signal Temporal Logic (STL) specifications. An event-triggered replanning mechanism addresses unexpected events and delays, while a generalized robustness scoring method incorporates user preferences and minimizes task conflicts. The approach is validated through simulations in MATLAB and Gazebo, as well as field experiments in a mock-up scenario. |
| title | Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.06620 |