Multi-UAV System for Power-Line Failure Detection Within the RESISTO Project

This paper presents our approach to the power-lines fault detection application with a team of multiple Unmanned Aerial Vehicles (UAVs). Our solution required proper integration of several commercial UAVs customizing their hardware and building a software architecture based on open-source tools under the ROS (Robotic Operating System) framework to enhance adaptability, specialization, and overall mission effectiveness. Besides, a planner coordinates mission tasks and optimizes flight paths, while an user-friendly Graphical User Interface (GUI) provides real-time and intuitive visualization and interaction, enhancing overall system usability and effectiveness in power-line inspection applications for fault detection. Finally, the paper includes experimental results in the power-lines located in the Doñana National Park (Spain), within the RESISTO project, which validate the overall approach and embedded mission planning method for real-world applications.