The paper formulates single-UAV medical delivery trajectory planning as a convex optimization problem that incorporates signal temporal logic for temporal constraints and convex feasible set collision avoidance for urban obstacles.
IEEE Transactions on Aerospace and Electronic Systems 60, 7251–7261
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Trajectory Optimization for UAV-Based Medical Delivery with Temporal Logic Constraints and Convex Feasible Set Collision Avoidance
The paper formulates single-UAV medical delivery trajectory planning as a convex optimization problem that incorporates signal temporal logic for temporal constraints and convex feasible set collision avoidance for urban obstacles.