Abstract
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach employs a two-stage innovative methodology. Initially, it leverages the complementary sensing capabilities of the robots to cooperatively map the unknown environment. It then generates optimized, collision-free inspection paths, thereby ensuring comprehensive coverage of the structure's surface area. The effectiveness of our system is demonstrated through qualitative and quantitative results from extensive Gazebo-based simulations that closely replicate real-world inspection scenarios, highlighting its ability to thoroughly inspect real-world-like 3D structures.
Abstract (translated)
这项工作提出了一种合作检查系统，旨在有效地控制和协调由分布式异构UAV代理团队对复杂、未知空间中的3D结构进行检查。我们提出的方法采用了两阶段创新方法。首先，它利用机器人的互补感测能力合作绘制未知环境。然后，它生成最优、无碰撞的检查路径，从而确保对结构表面的全面覆盖。通过在Gazebo等模拟器中进行广泛的实验，以模拟真实世界的检查场景，我们系统的有效性得到了定性和定量结果的证明，这表明该系统具有深入检查类似真实世界3D结构的能力。
URL
https://arxiv.org/abs/2404.12018
