  This paper tackles the task assignment and trajectory generation problem for
bird diverter installation using a fleet of multi-rotors. The proposed motion
planner considers payload capacity, recharging constraints, and utilizes Signal
Temporal Logic (STL) specifications for encoding mission objectives and
temporal requirements. An event-based replanning strategy is introduced to
handle unexpected failures and ensure operational continuity. An energy
minimization term is also employed to implicitly save multi-rotor flight time
during installation. Simulations in MATLAB and Gazebo, as well as field
experiments, demonstrate the effectiveness and validity of the approach in a
mock-up scenario.
