Trajectory optimization for UAV-based medical delivery with temporal logic constraints and convex feasible set collision avoidance

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.