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

TL;DR

This paper introduces a multi-layer software architecture enabling cooperative, safe, and cognitively capable multi-robot systems for power line inspection, demonstrated through realistic simulations.

Contribution

It proposes a novel multi-layer architecture integrating safety and cognitive features for multi-robot power line inspection tasks.

Findings

Architecture ensures safety compliance between drones and humans

Cognitive capabilities improve response to unforeseen events

Simulations demonstrate system feasibility and effectiveness

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.