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A smart grid is a widely distributed engineering system with overheadtransmission lines. Physical damage to these power lines, from naturalcalamities or technical failures, will disrupt the functional integrity of thegrid. To ensure the continuation of the grid's operational flow when thosephenomena happen, the grid operator must immediately take steps to nullify theimpacts and repair the problems, even if those occur in hardly-reachable remoteareas. Emerging unmanned aerial vehicles (UAVs) show great potential to replacetraditional human patrols for regularly monitoring critical situationsinvolving the safety of the grid. The critical lines can be monitored by afleet of UAVs to ensure a resilient surveillance system. The proposed approachconsiders the \textit{n}-1 contingency analysis to find the criticality of atransmission line. We propose a formal framework that verifies whether a givenset of UAVs (i.e., a UAV swarm) can perform continuous surveillance of the gridsatisfying various requirements, particularly the monitoring and resiliencyspecifications. The verification process ultimately provides a trajectory planfor the UAVs, including the refueling schedules. The resiliency requirement ofinspecting a point on a line is expressed in terms of a $k-$property specifyingthat if $k$ UAVs fail or compromised still there is a UAV to collect the dataat the point within on time. We evaluate the proposed framework on syntheticdata based on various IEEE test bus systems.

Trajectory Synthesis for a UAV Swarm to Perform Resilient Requirement-Aware Surveillance: A Smart Grid-based Study