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This paper tackles the task assignment and trajectory generation problem forbird diverter installation using a fleet of multi-rotors. The proposed motionplanner considers payload capacity, recharging constraints, and utilizes SignalTemporal Logic (STL) specifications for encoding mission objectives andtemporal requirements. An event-based replanning strategy is introduced tohandle unexpected failures and ensure operational continuity. An energyminimization term is also employed to implicitly save multi-rotor flight timeduring installation. Simulations in MATLAB and Gazebo, as well as fieldexperiments, demonstrate the effectiveness and validity of the approach in amock-up scenario.

Automating Bird Diverter Installation through Multi-Aerial Robots and Signal Temporal Logic Specifications