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：本文提出了一种安全且高效的自主室内探索方法，该方法使用调和势场（HPF）实现飞行机器人的环境探索。将HPF应用于复杂三维环境的挑战在于求解拉普拉斯方程涉及的高计算负载。为解决该问题，所提出的方案利用快速多极加速边界元法，并通过控制边界值来确保安全性与收敛性。通过仿真验证，该方法具备高效性、安全性与收敛性等特性。