Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots

被引：1

作者：

Anastasiou, Andreas ^{[1
,2
]}

Zacharia, Angelos ^{[1
,2
]}

Papaioannou, Savvas ^{[1
,2
]}

Kolios, Panayiotis ^{[1
,2
]}

Panayiotou, Christos G. ^{[1
,2
]}

Polycarpou, Marios M. ^{[1
,2
]}

机构：

[1] Univ Cyprus, KIOS Res & Innovat Ctr Excellence KIOS CoE, CY-1678 Nicosia, Cyprus

[2] Univ Cyprus, Dept Elect & Comp Engn, CY-1678 Nicosia, Cyprus

来源：

2024 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS | 2024年

基金：

欧盟地平线“2020”;

关键词：

Cooperative robots; 3D inspection; intelligent systems; Planning and control;

D O I：

10.1109/ICUAS60882.2024.10557006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 Gazebobased simulations that closely replicate real-world inspection scenarios, highlighting its ability to thoroughly inspect realworld-like 3D structures.

引用

页码：496 / 504

页数：9