A GPU-Resident Pipeline for Multi-Robot 3D Inspection with Limited Perception
Overview
A new GPU-based pipeline enables multi-robot 3D inspection of underwater structures using limited cameras, optimizing makespan and cost through five stages including visibility computation and routing optimization, validated on 14 meshes.
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- arXiv Robotics — research abstractsSignalA GPU-Resident Pipeline for Multi-Robot 3D Inspection with Limited Perception
This research introduces a complete, GPU-resident pipeline for multi-robot 3, D inspection of underwater structures. The pipeline computes 6-DOF trajectories for a fleet of robots with limited cameras, minimizing a makespan/total-cost objective. It decomposes the NP-hard problem into five core stages, including visibility computation, set cover, and routing optimization, with GPU-accelerated implementations and experimental validation on 14 meshes.
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