Mission Planning and Control of Multi-Aircraft Systems with Signal Temporal Logic Specifications

Baris Baspinar*, Hamsa Balakrishnan, Emre Koyuncu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper focuses on optimization-based control of multi-aircraft systems that have several mission objectives. Signal Temporal Logic (STL) is used to express the mission specifications that combine temporal and logical constraints. A methodology is presented to construct an optimization problem in the form of Mixed-Integer Linear Programming (MILP) by using the differential flatness property of a nonlinear dynamical system and STL specifications to generate feasible trajectories. Contrary to general implementations of Temporal Logic to discrete-time systems, the proposed method deals with continuous-time systems. It can be used to find optimal control strategies to achieve the assigned tasks for nonlinear dynamical systems without discretizing the system dynamics. As an illustration, we present an air traffic control example. The nonlinear dynamical model for the aircraft is represented as a partially differentially flat system, and the presented method is applied to manage approach control and to solve the arrival sequencing problem. The method is also applied with a quadrotor fleet to show that the method can be used with different multi-agent systems.

Original languageEnglish
Article number8882209
Pages (from-to)155941-155950
Number of pages10
JournalIEEE Access
Publication statusPublished - 2019

Bibliographical note

Publisher Copyright:
© 2013 IEEE.


The work of B. Başpınar was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) with the International Doctoral Research Fellowship.

FundersFunder number
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu


    • air traffic control
    • differential flatness
    • multi-aircraft systems
    • optimization-based control
    • Signal temporal logic


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