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The proposed method employs Signal Temporal Logic to encode key mission objectives, including safety, temporal requirements, and human preferences, with particular emphasis on ergonomics and comfort. An optimization-based planner generates dynamically feasible trajectories while explicitly accounting for the vehicle\u2019s nonlinear dynamics and actuation constraints. To address the resulting non-convex and non-smooth optimization problem, smooth robustness approximations and gradient-based techniques are adopted. In addition, an uncertainty-aware risk analysis is introduced to quantify the likelihood of specification violations under human-pose uncertainty. A robustness-aware event-triggered replanning strategy further enables online recovery from disturbances and unforeseen events by preserving safety margins during execution. The framework is validated through MATLAB and Gazebo simulations on an object handover task inspired by power line maintenance scenarios. Results demonstrate the ability of the proposed method to achieve safe, efficient, and resilient human\u2013robot collaboration under realistic operating conditions.<\/jats:p>","DOI":"10.1007\/s10846-026-02403-y","type":"journal-article","created":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T11:03:46Z","timestamp":1777719826000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle"],"prefix":"10.1007","volume":"112","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6816-6002","authenticated-orcid":false,"given":"Giuseppe","family":"Silano","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2267-575X","authenticated-orcid":false,"given":"Amr","family":"Afifi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7106-3816","authenticated-orcid":false,"given":"Martin","family":"Saska","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5670-1282","authenticated-orcid":false,"given":"Antonio","family":"Franchi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,5,2]]},"reference":[{"key":"2403_CR1","doi-asserted-by":"publisher","unstructured":"Abbas, H., Fainekos, G.: Computing descent direction of MTL robustness for non-linear systems. 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