Document Type

Conference Paper

Subject Area

CPS Formal Methods, CPS Theory, CPS Model-Based Design

Date of this Version


Publication Source

The 9th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2018


The problem of safe planning and control for multi- drone systems across a variety of missions is of critical impor- tance, as the scope of tasks assigned to such systems increases. In this paper, we present an approach to solve this problem for multi-quadrotor missions. Given a mission expressed in Signal Temporal Logic (STL), our controller maximizes robustness to generate trajectories for the quadrotors that satisfy the STL spec- ification in continuous-time. We also show that the constraints on our optimization guarantees that these trajectories can be tracked nearly perfectly by lower level off-the-shelf position and attitude controllers. Our approach avoids the oversimplifying abstractions found in many planning methods, while retaining the expressiveness of missions encoded in STL allowing us to handle complex spatial, temporal and reactive requirements. Through experiments, both in simulation and on actual quadrotors, we show the performance, scalability and real-time applicability of our method.


Multi-drone fleets, control, signal temporal logic, robustness maximization, quadrotors, crazyflie

Bib Tex

@inproceedings{ICCPS18_paper102, author = {Yash Vardhan Pant and Houssam Abbas and Rhudii A. Quaye and Rahul Mangharam}, title = {Fly-by-Logic: Control of Multi-Drone Fleets with Temporal Logic Objectives}, booktitle = {ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)}, year = {2018}, }



Date Posted: 19 March 2018

This document has been peer reviewed.