Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
149 tokens/sec
GPT-4o
7 tokens/sec
Gemini 2.5 Pro Pro
45 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots (2404.12018v1)

Published 18 Apr 2024 in cs.RO, cs.SY, and eess.SY

Abstract: 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.

Definition Search Book Streamline Icon: https://streamlinehq.com
References (30)
  1. M. Terzi, A. Anastasiou, P. Kolios, C. Panayiotou, and T. Theocharides, “SWIFTERS: A multi-UAV platform for disaster management,” in 2019 International Conference on Information and Communication Technologies for Disaster Management (ICT-DM), 2019, pp. 1–7.
  2. S. Papaioannou, P. Kolios, T. Theocharides, C. G. Panayiotou, and M. M. Polycarpou, “Towards automated 3D search planning for emergency response missions,” Journal of Intelligent & Robotic Systems, vol. 103, no. 1, p. 2, 2021.
  3. A. Farooq, A. Anastasiou, N. Souli, C. Laoudias, P. S. Kolios, and T. Theocharides, “Uav autonomous indoor exploration and mapping for SAR missions: Reflections from the ICUAS 2022 competition,” in 2022 19th International Conference on Ubiquitous Robots (UR), 2022, pp. 621–626.
  4. S. Papaioannou, S. Kim, C. Laoudias, P. Kolios, S. Kim, T. Theocharides, C. Panayiotou, and M. Polycarpou, “Coordinated crlb-based control for tracking multiple first responders in 3d environments,” in 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020, pp. 1475–1484.
  5. A. Anastasiou, R. Makrigiorgis, P. Kolios, and C. Panayiotou, “Hyperion: A robust drone-based target tracking system,” in 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021, pp. 927–933.
  6. A. Anastasiou, S. Papaioannou, P. Kolios, and C. G. Panayiotou, “Model predictive control for multiple castaway tracking with an autonomous aerial agent,” in 2023 European Control Conference (ECC), 2023, pp. 1–8.
  7. S. Papaioannou, P. Kolios, T. Theocharides, C. G. Panayiotou, and M. M. Polycarpou, “Decentralized search and track with multiple autonomous agents,” in 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 909–915.
  8. N. Souli, R. Makrigiorgis, A. Anastasiou, A. Zacharia, P. Petrides, A. Lazanas, P. Valianti, P. Kolios, and G. Ellinas, “HorizonBlock: Implementation of an autonomous counter-drone system,” in 2020 International Conference on Unmanned Aircraft Systems (ICUAS).   IEEE, 2020, pp. 398–404.
  9. S. Papaioannou, P. Kolios, C. G. Panayiotou, and M. M. Polycarpou, “Cooperative simultaneous tracking and jamming for disabling a rogue drone,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   IEEE, 2020, pp. 7919–7926.
  10. S. Papaioannou, P. Kolios, and G. Ellinas, “Downing a rogue drone with a team of aerial radio signal jammers,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 2555–2562.
  11. A. Savva, A. Zacharia, R. Makrigiorgis, A. Anastasiou, C. Kyrkou, P. Kolios, C. Panayiotou, and T. Theocharides, “ICARUS: automatic autonomous power infrastructure inspection with UAVs,” in 2021 International Conference on Unmanned Aircraft Systems (ICUAS).   IEEE, 2021, pp. 918–926.
  12. A. Zacharia, S. Papaioannou, P. Kolios, and C. Panayiotou, “Distributed control for 3D inspection using multi-UAV systems,” in 2023 31st Mediterranean Conference on Control and Automation (MED).   IEEE, 2023, pp. 164–169.
  13. S. Papaioannou, P. Kolios, T. Theocharides, C. G. Panayiotou, and M. M. Polycarpou, “Cooperative receding horizon 3d coverage control with a team of networked aerial agents,” in 2023 62nd IEEE Conference on Decision and Control (CDC), 2023, pp. 4399–4404.
  14. D. Lattanzi and G. Miller, “Review of robotic infrastructure inspection systems,” Journal of Infrastructure Systems, vol. 23, no. 3, p. 04017004, 2017.
  15. A. J. Lee, W. Song, B. Yu, D. Choi, C. Tirtawardhana, and H. Myung, “Survey of robotics technologies for civil infrastructure inspection,” Journal of Infrastructure Intelligence and Resilience, vol. 2, no. 1, p. 100018, 2023.
  16. W. Jing, J. Polden, W. Lin, and K. Shimada, “Sampling-based view planning for 3D visual coverage task with unmanned aerial vehicle,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   IEEE, 2016, pp. 1808–1815.
  17. S. Papaioannou, P. Kolios, T. Theocharides, C. G. Panayiotou, and M. M. Polycarpou, “Integrated guidance and gimbal control for coverage planning with visibility constraints,” IEEE Transactions on Aerospace and Electronic Systems, vol. 59, no. 2, pp. 1276–1291, 2023.
  18. ——, “3D trajectory planning for UAV-based search missions: An integrated assessment and search planning approach,” in 2021 International Conference on Unmanned Aircraft Systems (ICUAS).   IEEE, 2021, pp. 517–526.
  19. ——, “UAV-based receding horizon control for 3D inspection planning,” in 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 2022, pp. 1121–1130.
  20. H. Zhu, J. J. Chung, N. R. Lawrance, R. Siegwart, and J. Alonso-Mora, “Online informative path planning for active information gathering of a 3D surface,” in 2021 IEEE International Conference on Robotics and Automation (ICRA).   IEEE, 2021, pp. 1488–1494.
  21. W. Jing, D. Deng, Z. Xiao, Y. Liu, and K. Shimada, “Coverage path planning using path primitive sampling and primitive coverage graph for visual inspection,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   IEEE, 2019, pp. 1472–1479.
  22. C. Papachristos, K. Alexis, L. R. G. Carrillo, and A. Tzes, “Distributed infrastructure inspection path planning for aerial robotics subject to time constraints,” in 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, pp. 406–412.
  23. W. Jing, D. Deng, Y. Wu, and K. Shimada, “Multi-UAV coverage path planning for the inspection of large and complex structures,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   IEEE, 2020, pp. 1480–1486.
  24. S. S. Mansouri, C. Kanellakis, E. Fresk, D. Kominiak, and G. Nikolakopoulos, “Cooperative coverage path planning for visual inspection,” Control Engineering Practice, vol. 74, pp. 118–131, 2018.
  25. G. Hardouin, J. Moras, F. Morbidi, J. Marzat, and E. M. Mouaddib, “Next-Best-View planning for surface reconstruction of large-scale 3D environments with multiple UAVs,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).   IEEE, 2020, pp. 1567–1574.
  26. S. Ivić, B. Crnković, L. Grbčić, and L. Matleković, “Multi-UAV trajectory planning for 3D visual inspection of complex structures,” Automation in Construction, vol. 147, p. 104709, 2023.
  27. T.-M. Nguyen, “Determining the Velocity of a World Point in a Moving Camera Frame,” https://ntu-aris.github.io/caric/docs/CARIC_motion_blur.pdf, 2023, [Accessed 07-02-2024].
  28. A. Anastasiou, P. Kolios, C. Panayiotou, and K. Papadaki, “Swarm path planning for the deployment of drones in emergency response missions,” in 2020 International Conference on Unmanned Aircraft Systems (ICUAS).   IEEE, 2020, pp. 456–465.
  29. E. W. Dijkstra, “A note on two problems in connexion with graphs,” Numerische mathematik, vol. 1, no. 1, pp. 269–271, 1959.
  30. A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard, “Octomap: An efficient probabilistic 3d mapping framework based on octrees,” Autonomous robots, vol. 34, pp. 189–206, 2013.

Summary

We haven't generated a summary for this paper yet.

Ai Sparkles Streamline Icon: https://streamlinehq.com Summarize Now