Distributed Trajectory Planning for Multi-rotor UAVs with Signal Temporal Logic Objectives.

We develop a distributed motion planner for multi-robot systems with Signal Temporal Logic (STL) objectives. Existing approaches to STL-based motion planning are limited to fragments of STL that might not capture all desired behaviors or safety requirements. Focusing on the case of a fleet of multi-rotor Unmanned Aerial Vehicles (UAVs) jointly tasked with satisfying a given STL mission, we develop a distributed method, Fly-by-Distributed-Logic (FBDL), for trajectory planning. The proposed method generates trajectories that maximize the smooth robustness of STL specifications, where the associated optimization is solved in a distributed manner. This, to the best of our knowledge, is the first distributed method that can handle the full grammar of STL (bounded time). Simulation studies show the applicability of our approach to a variety of STL missions, including those with nested STL operators and the Until operator. We also compare its performance to a centralized approach and show that our method is computationally faster, but generally computes trajectories with lower robustness.