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

This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet multi-rotors. The proposed solution extend our previous motion planner to compute feasible constrained trajectories, considering payload capacity limitations recharging constraints. Signal Temporal Logic (STL) specifications are employed encode mission objectives temporal requirements. Additionally, an event-based replanning strategy is introduced handle unforeseen failures. An energy minimization term also implicitly save multi-rotor flight time during installation operations. effectiveness validity approach demonstrated through simulations in MATLAB Gazebo, as well field experiments carried out mock-up scenario.