  Inspection of power line infrastructures must be periodically conducted by
electric companies in order to ensure reliable electric power distribution.
Research efforts are focused on automating the power line inspection process by
looking for strategies that satisfy different requirements expressed in terms
of potential damage and faults detection. This problem comes up with the need
of safe planning and control techniques for autonomous robots to perform visual
inspection tasks. Such an application becomes even more interesting and of
critical importance when considering a multi-robot extension. In this paper, we
propose to compute feasible and constrained trajectories for a fleet of
quad-rotors leveraging on Signal Temporal Logic (STL) specifications. The
planner allows to formulate rather complex missions avoiding obstacles and
forbidden areas along the path. Simulations results achieved in MATLAB show the
effectiveness of the proposed approach leading the way to experimental tests on
the hardware.
