A signal temporal logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00379310" target="_blank" >RIV/68407700:21230/25:00379310 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.robot.2024.104905" target="_blank" >https://doi.org/10.1016/j.robot.2024.104905</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.robot.2024.104905" target="_blank" >10.1016/j.robot.2024.104905</a>
Alternative languages
Result language
angličtina
Original language name
A signal temporal logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study
Original language description
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.
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
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Robotics and Autonomous Systems
ISSN
0921-8890
e-ISSN
1872-793X
Volume of the periodical
186
Issue of the periodical within the volume
4
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
16
Pages from-to
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UT code for WoS article
001411204800001
EID of the result in the Scopus database
2-s2.0-85214321631