Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study
<|reference_start|>Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study: 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.<|reference_end|>
@article{silano2024task,
    title={Task Coordination and Trajectory Optimization for Multi-Aerial Systems
  via Signal Temporal Logic: A Wind Turbine Inspection Study},
    author={Giuseppe Silano, Alvaro Caballero, Davide Liuzza, Luigi Iannelli,
  Stjepan Bogdan, and Martin Saska},
    journal={arXiv preprint arXiv:2410.06620},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.06620},
    primaryClass={cs.RO}
}