  Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned
Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a
transportation concept of the future that is gaining prominence. UAM missions
with complex spatial, temporal and reactive requirements can be succinctly
represented using Signal Temporal Logic (STL), a behavioral specification
language. However, planning and control of systems with STL specifications is
computationally intensive, usually resulting in planning approaches that do not
guarantee dynamical feasibility, or control approaches that cannot handle
complex STL specifications. Here, we present an approach to co-design the
planner and control such that a given STL specification (possibly over multiple
UAVs) is satisfied with trajectories that are dynamically feasible and our
controller can track them with a bounded tracking-error that the planner
accounts for. The tracking controller is formulated for the non-linear dynamics
of the individual UAVs, and the tracking error bound is computed for this
controller when the trajectories satisfy some kinematic constraints. We also
augment an existing multi-UAV STL-based trajectory generator in order to
generate trajectories that satisfy such constraints. We show that this
co-design allows for trajectories that satisfy a given STL specification, and
are also dynamically feasible in the sense that they can be tracked with
bounded error. The applicability of this approach is demonstrated through
simulations of multi-UAV missions.
