通过信号时时时逻辑规格与多空机器人系统进行电力线路检查的任务 (Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications)

A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the formulation of complex missions that avoid obstacles and maintain a safe distance between drones while performing the planned mission. An optimization problem is set to generate optimal strategies that satisfy these specifications and also take vehicle constraints into account. Further, an event-triggered replanner is proposed to reply to unforeseen events and external disturbances. An energy minimization term is also considered to implicitly save quad-rotors battery life while carrying out the mission. Numerical simulations in MATLAB and experimental results show the validity and the effectiveness of the proposed approach, and demonstrate its applicability in real-world scenarios.

翻译：本文件提出了利用电线检查任务信号时空逻辑(STL)规格,计算四分位机器人车队可行和受限轨迹的框架。规划器允许制定复杂的任务,避免障碍,并在按计划执行飞行任务时保持无人驾驶飞机之间的安全距离。优化问题是为了产生符合这些规格的最佳战略,并考虑到车辆的制约因素。此外,还提议对意外事件和外部扰动作出反应,并提议一个事件触发的再规划器,以对意外事件和外部扰动作出反应。能源最小化术语还被认为暗含在执行任务时节省四分位机器人电池寿命。在MATLAB中进行的数字模拟和实验结果显示了拟议方法的有效性和有效性,并展示了其在现实世界情景中的适用性。