  A framework for computing feasible and constrained trajectories for a fleet
of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for
power line inspection tasks is proposed in this paper. The planner allows the
formulation of complex missions that avoid obstacles and maintain a safe
distance between drones while performing the planned mission. An optimization
problem is set to generate optimal strategies that satisfy these specifications
and also take vehicle constraints into account. Further, an event-triggered
replanner is proposed to reply to unforeseen events and external disturbances.
An energy minimization term is also considered to implicitly save quad-rotors
battery life while carrying out the mission. Numerical simulations in MATLAB
and experimental results show the validity and the effectiveness of the
proposed approach, and demonstrate its applicability in real-world scenarios.
