Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study
Abstract
This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths that adhere to time-sensitive constraints and vehicle limitations by formulating an optimization problem based on Signal Temporal Logic (STL) specifications. An event-triggered replanning mechanism addresses unexpected events and delays, while a generalized robustness scoring method incorporates user preferences and minimizes task conflicts. The approach is validated through simulations in MATLAB and Gazebo, as well as field experiments in a mock-up scenario.
Keywords
Cite
@article{arxiv.2410.06620,
title = {Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study},
author = {Giuseppe Silano and Alvaro Caballero and Davide Liuzza and Luigi Iannelli and Stjepan Bogdan and Martin Saska},
journal= {arXiv preprint arXiv:2410.06620},
year = {2025}
}
Comments
2 pages, Accepted for discussion at the workshop session "Formal methods techniques in robotics systems: Design and control" at IROS'24 in Abu Dhabi, UAE