  This paper presents a method for designing energy-aware collaboration tasks
between humans and robots, and generating corresponding trajectories to carry
out those tasks. The method involves using high-level specifications expressed
as Signal Temporal Logic (STL) specifications to automatically synthesize task
assignments and trajectories. The focus is on a specific task where a
Multi-Rotor Aerial Vehicle (MRAV) performs object handovers in a power line
setting. The motion planner takes into account constraints such as payload
capacity and refilling, while ensuring that the generated trajectories are
feasible. The approach also allows users to specify robot behaviors that
prioritize human comfort, including ergonomics and user preferences. The method
is validated through numerical analyses in MATLAB and realistic Gazebo
simulations in a mock-up scenario.
