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.

翻译：本文提出了一种协同巡检系统，旨在高效控制与协调异构无人机集群，在杂乱未知的三维空间中对结构进行检测。该方法采用两阶段创新流程：首先利用机器人互补的感知能力协同构建未知环境地图，随后生成无碰撞的优化巡检路径，确保对结构表面的全覆盖。通过基于Gazebo的仿真实验（高度复现真实巡检场景），本文从定性与定量两方面验证了系统效能，展示了其对类真实三维结构进行彻底扫描的可靠能力。