Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots
<|reference_start|>Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots: 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.<|reference_end|>
@article{anastasiou2024automated,
    title={Automated Real-Time Inspection in Indoor and Outdoor 3D Environments
  with Cooperative Aerial Robots},
    author={Andreas Anastasiou, Angelos Zacharia, Savvas Papaioannou, Panayiotis
  Kolios, Christos G. Panayiotou and Marios M. Polycarpou},
    journal={arXiv preprint arXiv:2404.12018},
    year={2024},
    doi={10.1109/ICUAS60882.2024.10557006},
    archivePrefix={arXiv},
    eprint={2404.12018},
    primaryClass={cs.RO cs.SY eess.SY}
}