This repository contains the Python code for a reach and avoid scenario formulated using Signal Temporal Logic (STL) specifications. The code is inspired by previous authors' work.
@ARTICLE{SilanoRAL2021,
author = {Silano, Giuseppe and Baca, Tomas and Penicka, Robert and Liuzza, Davide and Saska, Martin},
journal = {IEEE Robotics and Automation Letters},
title = {{Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications}},
year = {2021},
volume = {6},
number = {2},
pages = {4169--4176},
doi = {10.1109/LRA.2021.3068114}
}
@ARTICLE{CabelleroIEEEAccess,
author = {Caballero, Alvaro and Silano, Giuseppe},
journal = {IEEE Access},
title = {{A Signal Temporal Logic Motion Planner for Bird Diverter Installation Tasks With Multi-Robot Aerial Systems}},
year = {2023},
volume = {11},
pages = {81361--81377},
doi = {10.1109/ACCESS.2023.3300240}
}
The code was tested on Ubuntu 20.04 and Windows 10. CasADi was employed as a tool to formulate and solve the optimization problem.
To help in visualizing all the LaTeX equations mentioned in this repository, this useful web editor can be used.
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