信号時相論理によるマルチ航空システムのタスク調整と軌道最適化：風力タービン点検の事例研究
Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study
信号時相論理（STL）を用いて複数のドローンによる風力タービン点検のタスク割り当てと軌道生成を最適化し、イベントトリガー再計画で遅延や予期せぬ事象に対応する手法を提案・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
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.
