A GPU-Resident Pipeline for Multi-Robot 3D Inspection with Limited Perception
We present a complete, GPU-resident pipeline for multi-robot 3D inspection of underwater structures.
ProofPaper ↗
Key points
- Given a triangle mesh and a fleet of $K$ robots, each carrying a short-range, limited field-of-view camera, the pipeline computes 6-DOF trajectories that jointly cover a target fraction of the surface while minimizing a linearly interpolated makespan/total-cost objective.
- Code and raw results are publicly available.
Sources (1)
- [1]A GPU-Resident Pipeline for Multi-Robot 3D Inspection with Limited PerceptionarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 19, 10:02 AM
We present a complete, GPU-resident pipeline for multi-robot 3D inspection of underwater structures.
Given a triangle mesh and a fleet of $K$ robots, each carrying a short-range, limited field-of-view camera, the pipeline computes 6-DOF trajectories that jointly cover a target fraction of the surface while minimizing a linearly interpolated makespan/total-cost objective.
Extractive summary: sentences quoted from the sources.
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