Poma Aguilar, Álvaro RamiroSojo López, Antonio de la MisericordiaMaza Alcañiz, IvánOllero Baturone, Aníbal2025-11-242025-11-242025Poma Aguilar, Á.R., Sojo López, A.d.l.M., Maza Alcañiz, I. y Ollero Baturone, A. (2025). Ground Control Station for Multi-UAV Systems in Infrastructure Inspection and Environmental Monitoring Applications. Journal of Intelligent & Robotic Systems, 111 (4), 109.https://doi.org/10.1007/s10846-025-02312-6.0921-02961573-0409https://hdl.handle.net/11441/179321This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.The increasing integration of Unmanned Aerial Vehicles (UAVs) into complex projects, driven by their versatility and accessibility, requires robust mechanisms for interaction with various elements of the system during sophisticated tasks such as monitoring large-scale infrastructure and environmental inspection. This trend demands flexible integration solutions. This paper presents an open-source Ground Control Station (GCS) that serves as a crucial intermediary module, enabling the seamless integration of multi-UAV fleets with external applications working as Control Centers (CC). The GCS facilitates end-to-end automated workflows: from receiving high-level task assignments from the CC, through optimized mission planning and coordinated execution across heterogeneous UAV fleets (e.g., multicopters, VTOLs, fixed-wing, etc.), to data acquisition, processing, and the delivery of consolidated results back to the CC. Unlike many existing GCS solutions, often tied to specific autopilots or lacking straightforward integration capabilities with higher-level command systems, our approach provides a flexible and application-agnostic layer. The capabilities of the system were validated in real-world scenarios, including automated tower and power line inspections. These tests demonstrated that tasks commanded by the CC via the GCS platform were executed automatically and efficiently, as expected.application/pdf22 p.engAttribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/Ground control stationUnmanned aerial vehiclesInspection and maintenanceAutomated planningTraveling salesman problemEnergy-aware planninginfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1007/s10846-025-02312-6