A Cooperative Multi-Uav Framework for Bridge Inspection

Bridges are vital infrastructure assets whose maintenance is essential to ensure safety and efficient traffic flow. However, due to their nature, they are often located in hard-toreach places, which makes their regular inspection challenging and risky for human operators. This paper presents a comprehensive multi-UAV (Unmanned Aerial Vehicle) framework for fast and efficient cooperative bridge inspection, leveraging commercial UAVs with open-source tools and integrating both a custom Ground Control Station and advanced multi-UAV motion planning based on Signal Temporal Logic. The proposed approach enables autonomous and safe data collection while minimizing operational constraints and human intervention, making it a valuable contribution to UAV-based infrastructure monitoring. The presented framework has been validated in a real-world environment, showcasing its effectiveness in coordinating UAV teams for autonomous structural inspections.