A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

Abstract

This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations.

arXiv comment6 pages, 7 figures, conference

References in corpus (4)

• Event-based Vision: A Survey
• The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles
• Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications
• Autonomous Reflectance Transformation Imaging by a Team of Unmanned Aerial Vehicles

Cited by in corpus (7)

• MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
• Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations
• MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
• Deployment of Reliable Visual Inertial Odometry Approaches for Unmanned Aerial Vehicles in Real-world Environment
• Communications-Aware Robotics: Challenges and Opportunities
• An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs
• A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration