Giuseppe Silano presents A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems
On 2025-04-03 11:00:00 at E112, Karlovo náměstí 13, Praha 2
Standard seminar length ~ 20 min talk, 10 min discussion
ABSTRACT:
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.
PAPER:
G. Silano, A. Cabellero, D. Liuzza, L. Iannelli, S. Bogdan, and M. Saska, “A
Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial
Systems: a Wind Turbine Inspection Case Study,” Robotics and Autonomous
Systems, vol. 186, pp. 1–16, April, 2025, doi: 10.1016/j.robot.2024.104905.
Paper: https://www.sciencedirect.com/science/article/pii/S0921889024002896
Videos: https://mrs.fel.cvut.cz/milp-stl
ABSTRACT:
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.
PAPER:
G. Silano, A. Cabellero, D. Liuzza, L. Iannelli, S. Bogdan, and M. Saska, “A
Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial
Systems: a Wind Turbine Inspection Case Study,” Robotics and Autonomous
Systems, vol. 186, pp. 1–16, April, 2025, doi: 10.1016/j.robot.2024.104905.
Paper: https://www.sciencedirect.com/science/article/pii/S0921889024002896
Videos: https://mrs.fel.cvut.cz/milp-stl