ASIP-Planner achieves near-complete surface coverage and shorter trajectories in partially known indoor environments by clustering inspection targets globally and adapting viewing angles locally to handle occlusions.
A path planning algorithm for uav 3d surface inspection based on normal vector filtering and integrated viewpoint evaluation
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ASIP-Planner: Adaptive Planning for UAV Surface Inspection in Partially Known Indoor Environments
ASIP-Planner achieves near-complete surface coverage and shorter trajectories in partially known indoor environments by clustering inspection targets globally and adapting viewing angles locally to handle occlusions.