This paper tackles the task assignment and trajectory generation problem for bird diverter installation using a fleet of multi-rotors. The proposed motion planner considers payload capacity, recharging constraints, and utilizes Signal Temporal Logic (STL) specifications for encoding mission objectives and temporal requirements. An event-based replanning strategy is introduced to handle unexpected failures and ensure operational continuity. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation. Simulations in MATLAB and Gazebo, as well as field experiments, demonstrate the effectiveness and validity of the approach in a mock-up scenario.

翻译：本文研究了使用多旋翼机群执行鸟撞分流器安装任务中的任务分配与轨迹生成问题。所提出的运动规划器考虑了载荷能力与充电约束，并采用信号时序逻辑（STL）规范对任务目标及时间要求进行编码。引入基于事件的重规划策略以处理突发故障并保障作业连续性，同时通过能量最小化项隐式缩短安装过程中的多旋翼飞行时间。MATLAB与Gazebo仿真及现场实验验证了该方法在模拟场景中的有效性与可行性。