让消费级无人机安全探索并建图，适配低算力设备。
Perception-aware Exploration for Consumer-grade UAVs
- 通过视点对选择与轨迹规划，适配无人机里程计约束。
- 仿真验证支持多机协作，即使在硬件受限下仍可安全建图。
- 半分布式通信均衡负载，适合真实消费级无人机部署。
本文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（如DJI Mini 3 Pro）。提出一个流程：从可估计深度的视点对中选取，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，设计了一种半分布式通信机制，实现工作负载的均衡分配。在不同无人机数量的仿真中评估模型性能，证明其在消费级无人机硬件限制下仍能安全探索环境并重建地图。
原文摘要 · Abstract (English)
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.
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