多无人机协同绘制百平米户外壁画，精度与稳定性兼备。
Precision Meets Art: Autonomous Multi-UAV System for Large Scale Mural Drawing
- 用单个追踪相机+机载激光雷达实现高精度定位
- 轨迹内外分治飞行控制算法，保障绘图平滑精准
- 相比单机方案提速增效，恶劣天气仍稳定运行
将自主无人机融入大规模艺术项目已成为机器人领域的新应用。本文提出并实现了用于户外自动壁画绘制的新型多无人机系统，其采用新设计的软件协调多架无人机同步作业，利用状态机算法执行任务。关键技术包括：结合单个运动追踪摄像头进行二维定位与机载激光雷达实现精确三维定位的复合定位系统；以及沿轨迹方向与垂直方向采用不同策略的飞行控制算法，兼顾轨迹平滑性与绘图精度。实验中成功绘制出100平方米的壁画，验证了系统的有效性。相较于单机方案，该多无人机系统在保持高稳定性的同时显著提升可扩展性与作业速度，尤其在恶劣天气条件下表现稳健。研究结果展示了自主机器人集群在创意应用中的潜力，为大规模机器人艺术的发展提供了新路径。
原文摘要 · Abstract (English)
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.
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