Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications

TL;DR

This paper presents a novel framework using Signal Temporal Logic to generate feasible, safe, and energy-efficient trajectories for multiple quad-rotors performing power line inspections, adaptable to real-world disturbances.

Contribution

It introduces an STL-based planning and replanning approach that accounts for obstacle avoidance, safety, vehicle constraints, and energy efficiency in multi-robot power line inspection tasks.

Findings

Validated through MATLAB simulations

Demonstrated real-world applicability

Effective handling of unforeseen events

Abstract

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 paper. 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.