AgiPIX实现无人机巡检在仿真与真实环境间的零样本迁移。
AgiPIX: Bridging Simulation and Reality in Indoor Aerial Inspection
- 软硬件协同设计，支持机载实时感知与敏捷飞行。
- 仿真与真实环境间可直接移植容器化自主模块。
- 开源平台适合工业级室内无人机系统研发。
关键资产的自主室内飞行巡检在感知、规划、控制和学习方面面临根本性挑战。尽管进展迅速，仍缺乏一种紧凑、主动感知、开源且可在仿真与真实环境中复现的平台。为此，我们提出 Agipix——一个面向室内自主飞行与关键资产巡检的软硬件协同开源平台。Agipix 包含紧凑的硬件同步主动感知系统、搭载 GPU 加速计算的机载处理能力，支持敏捷飞行；基于容器化的 ROS2 模块化自主栈；以及高保真数字孪生模型与可靠用户界面。该系统实现容器化自主组件在仿真与真实飞行间的零样本迁移，支持快速迭代。我们在工业室内环境中验证了基于机载感知的轨迹跟踪与探索性能。所有硬件设计、仿真资源及容器化软件均开源，并附完整文档。
原文摘要 · Abstract (English)
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.
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