This paper concerns fault-tolerant power transmission line inspection planning as a generalization of the multiple traveling salesmen problem. The addressed inspection planning problem is formulated as a single-depot multiple-vehicle scenario, where the inspection vehicles are constrained by the battery budget limiting their inspection time. The inspection vehicle is assumed to be an autonomous multi-copter with a wide range of possible flight speeds influencing battery consumption. The inspection plan is represented by multiple routes for vehicles providing full coverage over inspection target power lines. On an inspection vehicle mission interruption, which might happen at any time during the execution of the inspection plan, the inspection is re-planned using the remaining vehicles and their remaining battery budgets. Robustness is introduced by choosing a suitable cost function for the initial plan that maximizes the time window for successful re-planning. It enables the remaining vehicles to successfully finish all the inspection targets using their respective remaining battery budgets. A combinatorial metaheuristic algorithm with various cost functions is used for planning and fast re-planning during the inspection.

翻译：本文关注作为多旅行商问题推广的容错输电线路检测规划。所研究的检测规划问题被建模为单基站多车辆场景，其中检测车辆受限于电池预算，从而限制其检测时间。检测车辆被假定为具有广泛可能飞行速度范围（影响电池消耗）的自主多旋翼飞行器。检测计划表现为多条覆盖全部待检测输电线路目标的车辆路径。当检测车辆在计划执行期间可能随时发生任务中断时，利用剩余车辆及其剩余电池预算重新规划检测方案。通过为初始规划选择能最大化成功重新规划时间窗口的合适代价函数引入鲁棒性，使剩余车辆能够利用各自剩余电池预算完成所有检测目标。采用集成多种代价函数的组合元启发式算法进行检测规划与快速重规划。