Autonomous indoor flight for critical asset inspection presents fundamental challenges in perception, planning, control, and learning. Despite rapid progress, there is still a lack of a compact, active-sensing, open-source platform that is reproducible across simulation and real-world operation. To address this gap, we present Agipix, a co-designed open hardware and software platform for indoor aerial autonomy and critical asset inspection. Agipix features a compact, hardware-synchronized active-sensing platform with onboard GPU-accelerated compute that is capable of agile flight; a containerized ROS~2-based modular autonomy stack; and a photorealistic digital twin of the hardware platform together with a reliable UI. These elements enable rapid iteration via zero-shot transfer of containerized autonomy components between simulation and real flights. We demonstrate trajectory tracking and exploration performance using onboard sensing in industrial indoor environments. All hardware designs, simulation assets, and containerized software are released openly together with documentation.

翻译：针对关键资产巡检的自主室内飞行在感知、规划、控制和学习方面提出了根本性挑战。尽管研究进展迅速，但目前仍缺乏一个能够在仿真和实际操作中复现的紧凑型、主动感知、开源平台。为填补这一空白，我们提出Agipix——一个面向室内空中自主与关键资产巡检的协同设计的开源硬件与软件平台。Agipix包含紧凑的硬件同步主动感知平台（配备用于敏捷飞行的板载GPU加速计算）、一套基于容器化ROS~2的模块化自主堆栈，以及硬件平台的照片级数字孪生体及可靠用户界面。这些组件支持通过零样本迁移将容器化自主组件在仿真与实飞之间快速迭代。我们演示了在工业室内环境中利用机载传感实现的轨迹跟踪与探索性能。所有硬件设计、仿真资产及容器化软件均附带文档开源发布。