TY - GEN
T1 - Cooperative Robotic Path Planning for Comprehensive Bridge Inspection with LiDAR Technology
T2 - OCEANS 2024 - Singapore, OCEANS 2024
AU - Bartlett, Ben
AU - Santos, Matheus
AU - Moreno, Marco
AU - Dalai, Sagar
AU - Fahy, Cillian
AU - Dow, Alexander
AU - Gonzalez, Hector
AU - Trslic, Petar
AU - Riordan, James
AU - Omerdic, Edin
AU - Toal, Dan
AU - Dooly, Gerard
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper presents a new automated workflow designed for 3D reconstruction of previously unsurveyed bridges, developed within the EU-funded RAPID project. A cooperative approach, where Unmanned Aerial Vehicles (UAVs) and Un-manned Surface Vehicles (USVs) collaborate is employed to en-sure the safe execution of inspections in unknown environments. In this proposed approach, a survey is first performed using a UAV. The mapped environment serves to plan a path for a USV, addressing safety concerns associated with the UAV flight path. This collaboration enables a secure mapping of the underside features of the bridge. Real-world environment tests, conducted with one of the most popular commercial UAS platforms and a novel research USV, demonstrate the feasibility of the developed system in autonomous bridge inspections.
AB - This paper presents a new automated workflow designed for 3D reconstruction of previously unsurveyed bridges, developed within the EU-funded RAPID project. A cooperative approach, where Unmanned Aerial Vehicles (UAVs) and Un-manned Surface Vehicles (USVs) collaborate is employed to en-sure the safe execution of inspections in unknown environments. In this proposed approach, a survey is first performed using a UAV. The mapped environment serves to plan a path for a USV, addressing safety concerns associated with the UAV flight path. This collaboration enables a secure mapping of the underside features of the bridge. Real-world environment tests, conducted with one of the most popular commercial UAS platforms and a novel research USV, demonstrate the feasibility of the developed system in autonomous bridge inspections.
KW - 3D Reconstruction
KW - autonomous inspection
KW - cooperative robots
KW - LiDAR
KW - UAV
KW - unknown environments
KW - USV
UR - http://www.scopus.com/inward/record.url?scp=85206460880&partnerID=8YFLogxK
U2 - 10.1109/OCEANS51537.2024.10682266
DO - 10.1109/OCEANS51537.2024.10682266
M3 - Conference contribution
AN - SCOPUS:85206460880
T3 - Oceans Conference Record (IEEE)
BT - OCEANS 2024 - Singapore, OCEANS 2024
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 April 2024 through 18 April 2024
ER -