This paper addresses the problem of task assignment and trajectory generation for installing bird diverters using a fleet of multi-rotors. The proposed solution extends our previous motion planner to compute feasible and constrained trajectories, considering payload capacity limitations and recharging constraints. Signal Temporal Logic (STL) specifications are employed to encode the mission objectives and temporal requirements. Additionally, an event-based replanning strategy is introduced to handle unforeseen failures. An energy minimization term is also employed to implicitly save multi-rotor flight time during installation operations. The effectiveness and validity of the approach are demonstrated through simulations in MATLAB and Gazebo, as well as field experiments carried out in a mock-up scenario.

翻译：本文研究了使用多旋翼机群安装防鸟器时的任务分配与轨迹生成问题。所提出的方案扩展了我们之前的运动规划器，在考虑载荷能力限制与充电约束的条件下，计算可行且受限的轨迹。采用信号时序逻辑规格对任务目标与时间需求进行编码。此外，引入了一种基于事件的重新规划策略来处理意外故障。在安装作业过程中，通过添加能量最小化项隐式减少多旋翼飞行时间。通过MATLAB和Gazebo仿真以及搭建模拟场景的现场实验，验证了该方法的有效性与正确性。