Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866914860410863616 |
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| author | Anastasiou, Andreas Zacharia, Angelos Papaioannou, Savvas Kolios, Panayiotis Panayiotou, Christos G. Polycarpou, Marios M. |
| author_facet | Anastasiou, Andreas Zacharia, Angelos Papaioannou, Savvas Kolios, Panayiotis Panayiotou, Christos G. Polycarpou, Marios M. |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_12018 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots Anastasiou, Andreas Zacharia, Angelos Papaioannou, Savvas Kolios, Panayiotis Panayiotou, Christos G. Polycarpou, Marios M. Robotics Systems and Control 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. |
| title | Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2404.12018 |