A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems

IF 3.4 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2023-07-31 DOI:10.1109/ACCESS.2023.3300240

Alvaro Caballero;Giuseppe Silano

引用次数: 3

Abstract

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.

查看原文本刊更多论文

基于多机器人空中系统的鸟类分流器安装任务的信号时序逻辑运动规划

本文研究了用多旋翼机队安装鸟类导流器的任务分配和轨迹生成问题。提出的解决方案扩展了我们之前的运动规划，以计算可行和受限的轨迹，考虑有效载荷能力限制和充电约束。采用信号时序逻辑(STL)规范对任务目标和时序需求进行编码。此外，还引入了基于事件的重新规划策略来处理不可预见的故障。在安装操作过程中，还采用了能量最小化项来隐含地节省多旋翼飞行时间。通过MATLAB和Gazebo仿真，以及在仿真场景中进行的现场实验，验证了该方法的有效性和有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

期刊介绍： IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest. IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on: Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals. Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering. Development of new or improved fabrication or manufacturing techniques. Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.