Trajectory Optimization for UAV-Based Medical Delivery with Temporal Logic Constraints and Convex Feasible Set Collision Avoidance Article Swipe

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Shaowei Cui , Yuanqing Xia , Wannian Liang ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2506.06038

This paper addresses the problem of trajectory optimization for unmanned aerial vehicles (UAVs) performing time-sensitive medical deliveries in urban environments. Specifically, we consider a single UAV with 3 degree-of-freedom dynamics tasked with delivering blood packages to multiple hospitals, each with a predefined time window and priority. Mission objectives are encoded using Signal Temporal Logic (STL), enabling the formal specification of spatial-temporal constraints. To ensure safety, city buildings are modeled as 3D convex obstacles, and obstacle avoidance is handled through a Convex Feasible Set (CFS) method. The entire planning problem-combining UAV dynamics, STL satisfaction, and collision avoidance-is formulated as a convex optimization problem that ensures tractability and can be solved efficiently using standard convex programming techniques. Simulation results demonstrate that the proposed method generates dynamically feasible, collision-free trajectories that satisfy temporal mission goals, providing a scalable and reliable approach for autonomous UAV-based medical logistics.

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Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2506.06038
PDF: https://arxiv.org/pdf/2506.06038
OA Status: green
OpenAlex ID: https://openalex.org/W4417097689

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DOI: https://doi.org/10.48550/arxiv.2506.06038

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Title: Trajectory Optimization for UAV-Based Medical Delivery with Temporal Logic Constraints and Convex Feasible Set Collision Avoidance

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Type: preprint

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Language: en

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Publication year: 2025

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Publication date: 2025-06-06

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Authors: Shaowei Cui, Yuanqing Xia, Wannian Liang

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Landing page: https://arxiv.org/abs/2506.06038

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PDF URL: https://arxiv.org/pdf/2506.06038

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