  This paper presents the design and implementation of an assisted control
technology for a small multirotor platform for aerial inspection of fixed
energy infrastructure. Sensor placement is supported by a theoretical analysis
of expected sensor performance and constrained platform behaviour to speed up
implementation. The optical sensors provide relative position information
between the platform and the asset, which enables human operator inputs to be
autonomously adjusted to ensure safe separation. The assisted control approach
is designed to reduced operator workload during close proximity inspection
tasks, with collision avoidance and safe separation managed autonomously. The
energy infrastructure includes single vertical wooden poles and crossarm with
attached overhead wires. Simulated and real experimental results are provided.
