A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks with Multi-Robot Aerial Systems

TL;DR

This paper presents a multi-robot aerial system motion planner using Signal Temporal Logic to efficiently and reliably install bird diverters, incorporating constraints, replanning, and energy optimization, validated through simulations and field tests.

Contribution

It extends existing motion planning methods by integrating STL-based task specifications, reactivity, and energy efficiency for multi-rotor installation tasks.

Findings

Successful simulation and field validation of the planner.

Effective handling of failures through event-based replanning.

Reduced flight time via energy minimization strategies.

Abstract

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.