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arXiv · 2410.06620

Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study

Giuseppe Silano·Alvaro Caballero·Davide Liuzza·Luigi Iannelli·Stjepan Bogdan·Martin Saska
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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.

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Giuseppe Silano, Alvaro Caballero, Davide Liuzza, Luigi Iannelli, Stjepan Bogdan, Martin Saska. 2024-10-09. Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study. https://arxiv.org/abs/2410.06620

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