AgiPIX：弥合室内空中检查的模拟与现实
AgiPIX: Bridging Simulation and Reality in Indoor Aerial Inspection
AI总结：
本文提出AgiPIX平台，通过模拟与现实之间的零样本迁移，实现紧凑型主动传感硬件与模块化自主系统，用于工业室内关键资产检查。
摘要：
自主室内飞行进行关键资产检查面临感知、规划、控制和学习方面的基本挑战。尽管进展迅速，但仍缺乏一个紧凑、主动传感、开源的平台，能够在模拟和现实世界中重复使用。为解决这一差距，我们提出了AgiPIX，一个为室内空中自主性和关键资产检查共同设计的开源硬件和软件平台。AgiPIX具有紧凑、硬件同步的主动传感平台，内置GPU加速计算，能够实现敏捷飞行；基于ROS~2的容器化模块化自主堆栈；以及与硬件平台一起的逼真数字孪生和可靠的用户界面。这些元素使通过零样本迁移在模拟和真实飞行之间快速迭代容器化自主组件成为可能。我们使用 onboard 感知在工业室内环境中演示轨迹跟踪和探索性能。所有硬件设计、模拟资产和容器化软件都公开发布，并附有文档。
英文摘要：
Autonomous indoor flight for critical asset inspection presents fundamental challenges in perception, planning, control, and learning. Despite rapid progress, there is still a lack of a compact, active-sensing, open-source platform that is reproducible across simulation and real-world operation. To address this gap, we present Agipix, a co-designed open hardware and software platform for indoor aerial autonomy and critical asset inspection. Agipix features a compact, hardware-synchronized active-sensing platform with onboard GPU-accelerated compute that is capable of agile flight; a containerized ROS~2-based modular autonomy stack; and a photorealistic digital twin of the hardware platform together with a reliable UI. These elements enable rapid iteration via zero-shot transfer of containerized autonomy components between simulation and real flights. We demonstrate trajectory tracking and exploration performance using onboard sensing in industrial indoor environments. All hardware designs, simulation assets, and containerized software are released openly together with documentation.
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。
