This paper investigates the problem of task assignment and trajectory generation for the installation of bird diverters with a fleet of multirotors leveraging on Signal Temporal Logic (STL) specifications. We extend our previous motion planner to compute feasible and constrained trajectories, taking into account payload capacity limitations and recharging constraints. The proposed planner ensures the continuity of the operation, while guaranteeing compliance with safety requirements and mission fulfillment. Additionally, an event-based replanning strategy is proposed to react to unforeseen failures. An energy minimization term is also considered to implicitly save multirotor flight time during installation operations. Numerical simulations in MATLAB, Gazebo, and field experiments demonstrate the performance of the approach and its validity in mock-up scenarios.

翻译：本文探讨在利用信号时空逻辑(STL)技术规格使用多旋翼船队安装鸟转流器的任务分配和轨迹生成问题,我们扩大我们先前的运动规划仪,以计算可行和受限的轨道,同时考虑到有效载荷容量限制和补给限制,拟议的规划仪确保操作的连续性,同时保证遵守安全要求和完成飞行任务。此外,还提议了一项基于事件的重新规划战略,以对意外故障作出反应。一个尽量减少能源的术语也被视为在安装操作期间隐含地节省多旋翼飞行时间。在MATLAB、Gazebo和实地实验中进行的数字模拟显示了这种方法的性能及其在模拟情景中的有效性。