一种用于多空中系统基于任务的协同的信号时序逻辑方法：以风力涡轮机检测为案例研究
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study
AI总结：
针对风力涡轮机检测场景下多旋翼编队协同的任务分配与轨迹生成问题，提出基于STL规范的优化方法与事件触发重规划、广义鲁棒性评分策略，经仿真与实地实验验证有效。
摘要：
本文研究了多旋翼无人机编队协同检测任务中的任务分配与轨迹生成问题，聚焦风力涡轮机检测场景。所提方案可生成安全可行的轨迹，同时满足异构时限约束与飞行器物理限制。文中构建了优化问题，以达成编码为Signal Temporal Logic（STL，信号时序逻辑）规范的任务目标与时序要求。此外还引入了事件触发重规划器，以应对突发状况并补偿损失的时间。进一步采用了广义鲁棒性评分方法，以体现用户偏好并缓解任务冲突。通过MATLAB与Gazebo仿真以及模型场景下的多机器人实地实验，验证了所提方法的有效性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
