Next-Best-View planning for surface reconstruction of large-scale 3D environments with multiple UAVs
Guillaume Hardouin,Julien Moras,Fabio Morbidi,Julien Marzat,El Mustapha Mouaddib,Guillaume Hardouin,Julien Moras,Fabio Morbidi,Julien Marzat,El Mustapha Mouaddib
In this paper, we propose a novel cluster-based Next-Best-View path planning algorithm to simultaneously explore and inspect large-scale unknown environments with multiple Unmanned Aerial Vehicles (UAVs). In the majority of existing informative path-planning methods, a volumetric criterion is used for the exploration of unknown areas, and the presence of surfaces is only taken into account indirec...
