精度与艺术：用于大规模壁画绘制的自主多无人机系统
Precision Meets Art: Autonomous Multi-UAV System for Large Scale Mural Drawing
AI总结：
本文提出了一种自主多无人机系统，用于户外大规模壁画绘制，通过复杂定位系统和新型飞行控制算法实现了高精度和稳定性。
摘要：
自主无人机（UAV）被整合到大型艺术项目中的应用已成为机器人学中的新应用。本文介绍了为户外环境中的自动壁画绘制设计、部署和测试的新型多无人机系统。该技术利用新的软件协调多个无人机同时进行，采用状态机算法执行任务。关键进展是复杂的定位系统，该系统结合使用单个运动跟踪相机进行二维定位和机载激光雷达进行精确定位，以及一种新的飞行控制算法，该算法在轨迹上和正常方向上都不同，确保在同时保持画作的平滑性和高精度。使用开发的多无人机系统创作了一幅100平方米的壁画，验证了系统的有效性。与单无人机方法相比，我们的多无人机解决方案显著提高了可扩展性和操作速度，同时在恶劣天气条件下仍能保持高稳定性。研究结果突显了自主机器人群在创意应用中的潜力，为大规模机器人艺术的进一步发展铺平了道路。
英文摘要：
The integration of autonomous unmanned aerial vehicles (UAVs) into large-scale artistic projects has emerged as a new application in robotics. This paper presents the design, deployment, and testing of a novel multi-drone system for automated mural painting in outdoor settings. This technology makes use of new software that coordinates multiple drones simultaneously, utilizing state-machine algorithms for task execution. Key advancements are the complex positioning system that combines 2D localization using a single motion tracking camera with onboard LiDAR for precise positioning, and a novel flight control algorithm, which works differently along the trajectory and normally to it, ensuring smoothness and high precision of the drawings at the same time. A 100 square meters mural was created using the developed multi-drone system, validating the system's efficacy. Compared to single-drone approaches, our multi-UAV solution significantly improves scalability and operational speed while maintaining high stability even in harsh weather conditions. The findings highlight the potential of autonomous robotic swarms in creative applications, paving the way for further advancements in large-scale robotic art.
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。
