A signal temporal logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

A signal temporal logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

A signal temporal logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

1872-793X

Svazek periodika

186

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

16

Strana od-do

—

Kód UT WoS článku

001411204800001

EID výsledku v databázi Scopus

2-s2.0-85214321631