2025/01/11 by Muqing Cao, Thien‐Minh Nguyen, Cao, Muqing +27 · 1 citation
Computer Science · Engineering · Environmental Science · #FOS: Computer and information sciences #FOS: Electrical engineering #Remote Sensing and LiDAR Applications #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2501.06566
openalex publication_date 2025/01/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.