论文标题
带有多机空中系统的鸟类分流器安装任务的信号时间逻辑运动计划器
A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks with Multi-Robot Aerial Systems
论文作者
论文摘要
本文解决了使用多个旋转器舰队安装鸟类分流器的任务分配和轨迹生成的问题。拟议的解决方案将我们以前的运动计划者扩展到考虑有效载荷能力限制和充电约束，以计算可行且受约束的轨迹。信号时间逻辑（STL）规格用于编码任务目标和时间要求。此外，还引入了基于事件的重型策略来处理无法预见的失败。还采用了一个能量最小化项来隐式保存安装操作期间的多转机飞行时间。通过MATLAB和凉亭中的模拟以及在模拟场景中进行的现场实验，证明了该方法的有效性和有效性。
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.
