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：本文提出了一种多层软件架构，用于支持多架四旋翼无人机协同执行电力线巡检任务。所提出的软件框架在确保任务成功完成的同时，能保障无人机与工作人员之间的安全合规性。此外，该系统集成了认知能力，以应对突发事件和外部干扰。通过逼真的仿真实验，验证了该架构的可行性与有效性。