A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems
Popis výsledku anglicky
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.
Klasifikace
Druh
J<sub>imp</sub> - Článek v periodiku v databázi Web of Science
CEP obor
—
OECD FORD obor
20204 - Robotics and automatic control
Návaznosti výsledku
Projekt
—
Návaznosti
R - Projekt Ramcoveho programu EK
Ostatní
Rok uplatnění
2023
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název periodika
IEEE Access
ISSN
2169-3536
e-ISSN
2169-3536
Svazek periodika
11
Číslo periodika v rámci svazku
July
Stát vydavatele periodika
US - Spojené státy americké
Počet stran výsledku
17
Strana od-do
81361-81377
Kód UT WoS článku
001045223100001
EID výsledku v databázi Scopus
2-s2.0-85166747390