A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00367325" target="_blank" >RIV/68407700:21230/23:00367325 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ACCESS.2023.3300240" target="_blank" >https://doi.org/10.1109/ACCESS.2023.3300240</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ACCESS.2023.3300240" target="_blank" >10.1109/ACCESS.2023.3300240</a>
Alternative languages
Result language
angličtina
Original language name
A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems
Original language description
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.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Access
ISSN
2169-3536
e-ISSN
2169-3536
Volume of the periodical
11
Issue of the periodical within the volume
July
Country of publishing house
US - UNITED STATES
Number of pages
17
Pages from-to
81361-81377
UT code for WoS article
001045223100001
EID of the result in the Scopus database
2-s2.0-85166747390