Control of multi-drone fleets with temporal logic objectives

A system for controlling a fleet of drones, the system comprising:

• one or more processors;
• and
• a controller implemented on the one or more processors and configured to perform operations comprising:
• receiving a mission specification for each drone of one or more drones, each mission specification including a plurality of spatio-temporal requirements for the drone;
• generating, for each drone, a first trajectory for the drone by performing a robustness maximization of satisfying the mission specification over a sequence of waypoints for the drone based on a mapping between low-rate trajectories and high-rate trajectories;
• and
• transmitting, to each drone, the first trajectory for the drone, causing a local controller of each drone to control the drone by generating a second trajectory using the first trajectory and the mapping between low-rate trajectories and high-rate trajectories, wherein the first trajectory has a lower sampling rate than the second trajectory.

A non-transitory computer readable medium storing executable instructions that when executed by at least one processor of a computer control the computer to perform operations comprising:

• receiving, at a controller implemented on one or more processors, a mission specification for each drone of one or more drones, each mission specification including a plurality of spatio-temporal requirements for the drone;
• generating, at the central controller and for each drone, a first trajectory for the drone by performing a robustness maximization of satisfying the mission specification over a sequence of waypoints for the drone based on a mapping between low-rate trajectories and high-rate trajectories;
• and
• transmitting, at the central controller and to each drone, the first trajectory for the drone, causing a local controller of each drone to control the drone by generating a second trajectory using the first trajectory and the mapping between low-rate trajectories and high-rate trajectories, wherein the first trajectory has a lower sampling rate than the second trajectory.