In our work, we extend the current state-of-the-art approach for autonomous multi-UAV exploration to consumer-level UAVs, such as the DJI Mini 3 Pro. We propose a pipeline that selects viewpoint pairs from which the depth can be estimated and plans the trajectory that satisfies motion constraints necessary for odometry estimation. For the multi-UAV exploration, we propose a semi-distributed communication scheme that distributes the workload in a balanced manner. We evaluate our model performance in simulation for different numbers of UAVs and prove its ability to safely explore the environment and reconstruct the map even with the hardware limitations of consumer-grade UAVs.

翻译：在本研究中，我们将当前最先进的多无人机自主探索方法扩展至消费级无人机平台，例如DJI Mini 3 Pro。我们提出一种流程，该流程从可估计深度的视角对中进行选择，并规划满足里程计估计所需运动约束的轨迹。针对多无人机探索任务，我们设计了一种半分布式通信方案，以均衡方式分配计算负载。我们通过仿真实验评估了不同无人机数量下的模型性能，并验证了即使在消费级无人机的硬件限制下，该系统仍能安全探索环境并完成地图重建。