The integration of autonomous unmanned aerial vehicles (UAVs) into large-scale artistic projects has emerged as a new application in robotics. This paper presents the design, deployment, and testing of a novel multi-drone system for automated mural painting in outdoor settings. This technology makes use of new software that coordinates multiple drones simultaneously, utilizing state-machine algorithms for task execution. Key advancements are the complex positioning system that combines 2D localization using a single motion tracking camera with onboard LiDAR for precise positioning, and a novel flight control algorithm, which works differently along the trajectory and normally to it, ensuring smoothness and high precision of the drawings at the same time. A 100 square meters mural was created using the developed multi-drone system, validating the system's efficacy. Compared to single-drone approaches, our multi-UAV solution significantly improves scalability and operational speed while maintaining high stability even in harsh weather conditions. The findings highlight the potential of autonomous robotic swarms in creative applications, paving the way for further advancements in large-scale robotic art.

翻译：将自主无人机融入大规模艺术项目已成为机器人学中的新兴应用。本文介绍了一种用于户外环境自动壁画绘制的新型多无人机系统的设计、部署与测试。该技术利用新型软件同时协调多架无人机，采用状态机算法执行任务。关键进展在于结合了单运动追踪相机二维定位与机载激光雷达以实现精确定位的复杂定位系统，以及一种沿轨迹方向与法线方向采用不同控制策略的新型飞行控制算法，在确保绘图平滑性的同时实现了高精度。利用所开发的多无人机系统成功绘制了一幅100平方米的壁画，验证了系统的有效性。与单无人机方案相比，我们的多无人机解决方案在恶劣天气条件下仍能保持高稳定性，同时显著提升了可扩展性与作业速度。研究结果凸显了自主机器人群在创意应用中的潜力，为大规模机器人艺术的进一步发展开辟了道路。