This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as Signal Temporal Logic (STL) specifications to automatically synthesize task assignments and trajectories. The focus is on a specific task where a Multi-Rotor Aerial Vehicle (MRAV) performs object handovers in a power line setting. The motion planner takes into account constraints such as payload capacity and refilling, while ensuring that the generated trajectories are feasible. The approach also allows users to specify robot behaviors that prioritize human comfort, including ergonomics and user preferences. The method is validated through numerical analyses in MATLAB and realistic Gazebo simulations in a mock-up scenario.

翻译：本文提出了一种设计人与机器人之间能量感知协作任务并生成相应轨迹的方法。该方法利用以信号时态逻辑（STL）规范表达的高层规约，自动综合任务分配与轨迹。重点聚焦于特定场景：多旋翼飞行器（MRAV）在电力线环境中执行物体交接任务。运动规划器在确保生成轨迹可行性的同时，考虑了有效载荷能力与补给等约束条件。该方法还允许用户指定优先考虑人类舒适度的机器人行为，包括工效学与用户偏好。通过MATLAB数值分析以及在模拟场景中的真实Gazebo仿真验证了该方法的有效性。