A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions requiring vehicles to support human operators. A resource-constrained problem allows distributing tasks among the team taking into account vehicles' capabilities and battery constraints. Besides, Behavior Trees (BTs) are in charge of mission execution, triggering replanning operations in case of unforeseen events, such as vehicle faults or communication drop-outs. The feasibility and validity of the approach are showcased through realistic simulations achieved in Gazebo.

翻译：本文提出了一种面向高压电力线巡检与维护场景的异构空中飞行器团队协调软件架构。该架构采用分层方法处理高层任务，通过规划与执行复杂任务来支持操作人员。一个资源受限问题允许在考虑飞行器能力与电池约束的前提下在团队中分配任务。此外，行为树（Behavior Trees, BTs）负责任务执行，并在遇到飞行器故障或通信中断等突发事件时触发重新规划操作。通过Gazebo环境中的真实仿真验证了该方法的可行性与有效性。