ST. PAUL — A bill barring warrantless aerial drone use by Minnesota law enforcement except in certain emergency situations is headed to the Senate floor.

The Senate Judiciary Committee on Friday endorsed a bill that has been the subject of intense negotiations with civil liberties groups and law enforcement agencies.

Sen. Scott Dibble’s bill would put unmanned aerial vehicles into state law books for the first time and spell out how they are used.

A warrant would be required if drones are used for surveillance. Police agencies would have to keep records for an annual state report.

The bill gives authorities ways around the warrant if life or safety is deemed to be at risk, there is credible intelligence pointing to possible terrorism or they are responding to a natural or man-made disaster.