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.
翻译：本文件介绍了一个多层次的软件结构,用以执行合作任务,由一批四重钻机组成,为电力线检查行动提供支助;拟议的软件框架保证无人驾驶飞机和工人遵守安全要求,同时确保任务顺利完成;此外,将认知能力纳入多车辆系统,以便对意外事件和外部动乱作出反应;通过现实的模拟,表明拟议结构的可行性和有效性。
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