利用协作式空中机器人在室内外3D环境中进行自动化实时检测
Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots
AI总结：
本文提出面向未知杂乱空间的异构UAV协作检测系统，通过协同建图与无碰撞覆盖路径优化，实现室内外3D结构的自动化实时检测。
摘要：
本工作介绍了一种协作检测系统，旨在高效控制和协调一组分布式异构UAV智能体，以在杂乱、未知空间中检测3D结构。我们提出的方法采用两阶段创新流程。首先，它利用机器人互补的感知能力协作绘制未知环境地图。随后，系统生成经过优化的无碰撞检测路径，从而确保对结构表面积的全面覆盖。通过大量基于Gazebo、高度复现真实检测场景的仿真所获得的定性与定量结果，我们证明了该系统的有效性，并突出其彻底检测类真实3D结构的能力。
英文摘要：
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 Gazebo-based simulations that closely replicate real-world inspection scenarios, highlighting its ability to thoroughly inspect real-world-like 3D structures.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
