Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking for strategies that satisfy different requirements expressed in terms of potential damage and faults detection. This problem comes up with the need of safe planning and control techniques for autonomous robots to perform visual inspection tasks. Such an application becomes even more interesting and of critical importance when considering a multi-robot extension. In this paper, we propose to compute feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications. The planner allows to formulate rather complex missions avoiding obstacles and forbidden areas along the path. Simulations results achieved in MATLAB show the effectiveness of the proposed approach leading the way to experimental tests on the hardware.

中文翻译：

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从信号时序逻辑规范出发的多机器人系统电力线检查任务的框架

电力公司必须定期检查电力线基础设施，以确保可靠的电力分配。研究工作集中在通过寻找满足潜在损坏和故障检测方面表达的不同要求的策略来使电力线检查过程自动化。这个问题提出了对安全的计划和控制技术的要求，以使自主机器人执行视觉检查任务。在考虑多机器人扩展时，这样的应用变得更加有趣并且至关重要。在本文中，我们建议利用信号时态逻辑（STL）规格来计算四旋翼机群的可行且受约束的轨迹。规划者可以制定相当复杂的任务，避免沿途出现障碍物和禁区。在MATLAB中获得的仿真结果表明，所提出方法的有效性，引领了对硬件进行实验测试的道路。