This work presents an safe and efficient methodology for autonomous indoor exploration with aerial robots using Harmonic Potential Fields (HPF). The challenge of applying HPF in complex 3D environments rests on high computational load involved in solving the Laplace equation. To address this issue, the proposed solution utilizes the Fast Multiple accelerated Boundary Element Method with boundary values controlled to ensure both safety and convergence. The methodology is validated through simulations, which demonstrate its properties of efficiency, safety and convergence.

翻译：这项工作为利用调音潜能场进行空中机器人自主室内探索提供了一种安全有效的方法,在复杂的三维环境中应用高频平台的挑战在于解决Laplace方程式所涉及的高计算负荷,为解决这一问题,拟议解决办法采用快速多速递边界元素方法,对边界值加以控制,以确保安全和汇合,通过模拟验证该方法,显示其效率、安全和汇合的特性。</s>