This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.

翻译：本文提出了一种设计人机协作任务并生成相应轨迹的方法。该方法利用以信号时序逻辑公式表达的高级规范，自动合成任务分配与轨迹。为阐述该方案，我们聚焦于一个具体任务：多旋翼飞行器在电力线场景中执行物体交接。运动规划器在确保轨迹可行性的同时，考虑了有效载荷能力与充电约束等限制因素。此外，该方法允许用户在使用高级目标与约束条件时，指定顾及人类舒适度（例如人体工效学、偏好）的机器人行为。通过MATLAB数值分析及使用模拟场景在Gazebo环境下进行逼真仿真，验证了该方法的有效性。