Automating Bird Diverter Installation through Multi-Aerial Robots and Signal Temporal Logic Specifications

TL;DR

This paper presents a comprehensive approach for automating bird diverter installation using multi-rotor drones, incorporating STL-based mission specifications, event-based replanning, and energy-efficient trajectory planning, validated through simulations and field tests.

Contribution

It introduces an integrated motion planning framework that accounts for payload, recharging, and temporal mission constraints using Signal Temporal Logic, with real-world validation.

Findings

Successful simulation and field implementation demonstrate effectiveness.

Replanning strategy enhances robustness against failures.

Energy minimization reduces flight time and improves efficiency.

Abstract

This paper tackles the task assignment and trajectory generation problem for bird diverter installation using a fleet of multi-rotors. The proposed motion planner considers payload capacity, recharging constraints, and utilizes Signal Temporal Logic (STL) specifications for encoding mission objectives and temporal requirements. An event-based replanning strategy is introduced to handle unexpected failures and ensure operational continuity. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation. Simulations in MATLAB and Gazebo, as well as field experiments, demonstrate the effectiveness and validity of the approach in a mock-up scenario.