The paper proposes an STL-based optimization planner with uncertainty-aware risk analysis and event-triggered replanning for safe human-drone collaboration, demonstrated in simulations of an object handover task.
In: Companion of the 2024 ACM/IEEE In- ternational Conference on Human-Robot Interaction, pp
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STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
The paper proposes an STL-based optimization planner with uncertainty-aware risk analysis and event-triggered replanning for safe human-drone collaboration, demonstrated in simulations of an object handover task.