信号時相論理による複数航空機システムのタスク協調：風力タービン点検の事例研究
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study
複数のドローンで風力タービンを協調点検するため、STL仕様に基づくタスク割当と軌道生成、イベントトリガ型再計画を提案し、シミュレーションと実機実験で検証した。
著者: Giuseppe Silano, Alvaro Caballero, Davide Liuzza, Luigi Iannelli, Stjepan Bogdan, Martin Saska
分類: cs.RO
原文アブストラクト
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible trajectories while accommodating heterogeneous time-bound constraints and vehicle physical limits. An optimization problem is formulated to meet mission objectives and temporal requirements encoded as Signal Temporal Logic (STL) specifications. Additionally, an event-triggered replanner is introduced to address unforeseen events and compensate for lost time. Furthermore, a generalized robustness scoring method is employed to reflect user preferences and mitigate task conflicts. The effectiveness of the proposed approach is demonstrated through MATLAB and Gazebo simulations, as well as field multi-robot experiments in a mock-up scenario.
