  This paper proposes a method for designing human-robot collaboration tasks
and generating corresponding trajectories. The method uses high-level
specifications, expressed as a Signal Temporal Logic (STL) formula, to
automatically synthesize task assignments and trajectories. To illustrate the
approach, we focus on a specific task: a multi-rotor aerial vehicle performing
object handovers in a power line setting. The motion planner considers
limitations, such as payload capacity and recharging constraints, while
ensuring that the trajectories are feasible. Additionally, the method enables
users to specify robot behaviors that take into account human comfort (e.g.,
ergonomics, preferences) while using high-level goals and constraints. The
approach is validated through numerical analyzes in MATLAB and realistic Gazebo
simulations using a mock-up scenario.
