Silano, Giuseppe (Czech Technical University in Prague), Bednar, Jan (Czech Technical University in Prague), Nascimento, Tiago (Universidade Federal da Paraiba), Capitan, Jesus (Universidad de Sevilla), Saska, Martin (Czech Technical University in Prague), Ollero, Anibal (Universidad de Sevilla)

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

Scheduled for presentation during the Poster Session "Poster Papers Session" (FrPS), Friday, June 18, 2021, 09:15−09:30, Foyer, Mezzanine Level

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

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.