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Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

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arxiv 2501.06566 v2 pith:P3CE6OTU submitted 2025-01-11 cs.RO cs.SYeess.SY

Muqing Cao , Thien-Minh Nguyen , Shenghai Yuan , Andreas Anastasiou , Angelos Zacharia , Savvas Papaioannou , Panayiotis Kolios , Christos G. Panayiotou
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Marios M. Polycarpou Xinhang Xu Mingjie Zhang Fei Gao Boyu Zhou Ben M. Chen Lihua Xie
This is my paper
classification cs.ROcs.SYeess.SY
keywords inspectioncariccooperativemulti-uavplanningtaskteamsaerial
verification ladder T0 review T1 audit T2 compute T3 formal
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We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic constraints, and evaluation metrics prioritizing inspection quality and efficiency. It offers a ready-to-use perception-control software stack and diverse scenarios to support the development and evaluation of task allocation and motion planning algorithms. Competitions using CARIC were held at IEEE CDC 2023 and the IROS 2024 Workshop on Multi-Robot Perception and Navigation, attracting innovative solutions from research teams worldwide. This paper examines the top three teams from CDC 2023, analyzing their exploration, inspection, and task allocation strategies while drawing insights into their performance across scenarios. The results highlight the task's complexity and suggest promising directions for future research in cooperative multi-UAV systems.

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Cited by 1 Pith paper

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