A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study
<|reference_start|>A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study: The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible trajectories while accommodating heterogeneous time-bound constraints and vehicle physical limits. An optimization problem is formulated to meet mission objectives and temporal requirements encoded as Signal Temporal Logic (STL) specifications. Additionally, an event-triggered replanner is introduced to address unforeseen events and compensate for lost time. Furthermore, a generalized robustness scoring method is employed to reflect user preferences and mitigate task conflicts. The effectiveness of the proposed approach is demonstrated through MATLAB and Gazebo simulations, as well as field multi-robot experiments in a mock-up scenario.<|reference_end|>
@article{silano2024a,
    title={A Signal Temporal Logic Approach for Task-Based Coordination of
  Multi-Aerial Systems: a Wind Turbine Inspection Case Study},
    author={Giuseppe Silano, Alvaro Caballero, Davide Liuzza, Luigi Iannelli,
  Stjepan Bogdan, Martin Saska},
    journal={arXiv preprint arXiv:2409.12713},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.12713},
    primaryClass={cs.RO}
}