Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner

  • 类型：arxiv
  • 标识：2606.25393
  • 链接：https://arxiv.org/abs/2606.25393
  • 主分类：engineering
  • 形态：method
  • 被引：0
  • 被引来源：Semantic Scholar + OpenAlex
  • S2被引：0
  • OpenAlex被引：0
  • 影响力被引：0
  • TLDR：Hydropower tunnel inspection is critical for infrastructure integrity yet remains inefficient and hazardous using manual methods. We propose FLISP (Fast LiDAR-IMU Synchronized Path Planner), a mapless planning framework for cooperative UGV-UAV inspection. Unlike traditional map-based paradigms, FLISP features three core contributions: (1) a unified architecture where a single UGV-mounted LiDAR-IMU suite drives synchronized path generation for both platforms; (2) platform-specific solvers utilizing an enhanced Firefly Algorithm for UGV obstacle avoidance and a dynamic iterative optimizer for UA
  • OpenAlex ID：W7165935970
  • OpenAlex DOI：10.48550/arxiv.2606.25393
  • DOI：10.48550/arxiv.2606.25393
  • DOI来源：OpenAlex
  • 开放获取：green
  • 开放获取链接：https://doi.org/10.48550/arxiv.2606.25393
  • OpenAlex更新：2026-07-19
  • 待LLM分类：否
  • 成熟度：research
  • 场景：path planning、UGV-UAV collaboration、tunnel inspection
  • 标题中文：基于 FLISP 的大规模隧道空地协同：Fast LiDAR-IMU Synchronized Path Planner
  • TLDR中文：水电隧道检测对基础设施完整性至关重要，但人工方式效率低下且具有危险性。本文提出 FLISP（Fast LiDAR-IMU Synchronized Path Planner），一种面向 UGV-UAV 协同检测的无地图规划框架。不同于传统基于地图的范式，FLISP 具有三项核心贡献：(1) 统一架构，由单套 UGV 搭载的 LiDAR-IMU 驱动两平台的同步路径生成；(2) 平台特定的求解器，采用增强型萤火虫算法用于 UGV 避障，以及动态迭代优化器用于 UA
  • 来源文件：
  • /inbox/tom/_candidates/2026-06-30-agent-rag-longcontext-candidates.json
  • [S2 enrich]
  • [OpenAlex backfill]