Abstract
Small Unmanned Autonomous Vehicles (UAV) are being used for several monitoring applications such as power line inspections, structural damages in buildings or farmland inspections. An individual UAV has limits in terms of weight, size and energy consumption for itself and for the sensors it carries. One way to mitigate this issue is to perform the aforementioned inspections using multiple vehicles cooperating to accomplish the missions (i.e. inspections) goal. From this new scenario many challenges arise, from the design time system development and optimization, to on-the-fly path (re)planning and they also include tool support development. This paper describes HIPAO, a model driven framework for system design, discusses the on-the-fly path (re)planning strategy and Droid Planner a ground control station software for UAV control and mission planning.
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