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

Caballero, Alvaro; Silano, Giuseppe

doi:10.1109/access.2023.3300240

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2024

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Cited by 3 publications

References 59 publications

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Sequential control barrier functions for mobile robots with dynamic temporal logic specifications

Buyukkocak,

Aksaray,

Yazıcıoğlu

2024

Robotics and Autonomous Systems

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Sequential control barrier functions for mobile robots with dynamic temporal logic specifications

Buyukkocak,

Aksaray,

Yazıcıoğlu

2024

Robotics and Autonomous Systems

View full text Add to dashboard Cite

A Multi-UAV Route Planning Method for Fast Inspection of Electric Power Transmission Lines

Caballero,

Roman-Escorza,

Maza

et al. 2024

2024 International Conference on Unmanned Aircraft Systems (ICUAS)

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Planning for heterogeneous teams of robots with temporal logic, capability, and resource constraints

Cardona,

Vasile

2024

The International Journal of Robotics Research

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This paper presents a comprehensive approach for planning for teams of heterogeneous robots with different capabilities and the transportation of resources. We use Capability Temporal Logic (CaTL), a formal language that helps express tasks involving robots with multiple capabilities with spatial, temporal, and logical constraints. We extend CaTL to also capture resource constraints, where resources can be divisible and indivisible, for instance, sand and bricks, respectively. Robots transport resources using various storage types, such as uniform (shared storage among resources) and compartmental (individual storage per resource). Robots’ resource transportation capacity is defined based on resource type and robot class. Robot and resource dynamics and the CaTL mission are jointly encoded in a Mixed Integer Linear Programming (MILP), which maximizes disjoint robot and resource robustness while minimizing spurious movement of both. We propose a multi-robustness approach for Multi-Class Signal Temporal Logic (mcSTL), allowing for generalized quantitative semantics across multiple predicate classes. Thus, we compute availability robustness scores for robots and resources separately. Finally, we conduct multiple experiments demonstrating functionality and time performance by varying resources and storage types.

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

Cited by 3 publications

References 59 publications

Sequential control barrier functions for mobile robots with dynamic temporal logic specifications

Sequential control barrier functions for mobile robots with dynamic temporal logic specifications

A Multi-UAV Route Planning Method for Fast Inspection of Electric Power Transmission Lines

Planning for heterogeneous teams of robots with temporal logic, capability, and resource constraints

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