“…However, the use of UAVs to achieve these tasks is particularly challenging, due to their limited battery capacity, the strong electromagnetic interference produced by power towers, and the presence of potential obstacles along the lines (e.g., branches, vegetation, marker balls) [9]. Small and lightweight systems with cognitive capabilities, e.g., based on novel perception sensors [10], advanced data fusion techniques [11], planning [12], [13] and control algorithms [14], are of interest to address those complexities and to accomplish the assigned mission safely and successfully. More precisely, it is key to integrate small UAVs (see Fig.…”