Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner
Summary
A paper proposing FLISP, a mapless path planning framework for cooperative UGV-UAV tunnel inspection using a single LiDAR-IMU suite, achieving 100% success rate and 7ms latency in a 1.2km tunnel.
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Paper page - Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner
Source: https://huggingface.co/papers/2606.25393
Abstract
Hydropowertunnelinspectioniscriticalforinfrastructureintegrityyetremainsinefficientandhazardoususingmanualmethods.WeproposeFLISP(FastLiDAR-IMUSynchronizedPathPlanner),amaplessplanningframeworkforcooperativeUGV-UAVinspection.Unliketraditionalmap-basedparadigms,FLISPfeaturesthreecorecontributions:(1)aunifiedarchitecturewhereasingleUGV-mountedLiDAR-IMUsuitedrivessynchronizedpathgenerationforbothplatforms;(2)platform-specificsolversutilizinganenhancedFireflyAlgorithmforUGVobstacleavoidanceandadynamiciterativeoptimizerforUAVflight;and(3)ahierarchicalrefinementstrategyensuringkinematicfeasibilitywithoutstateestimationdrift.Benchmarksina1.2kmoperationaltunneldemonstratethatFLISPcircumventsstructuralbottlenecksofmap-basedmethods,eliminatingmaprasterizationoverhead(Fast-LIO2+A*)andsamplinginstability(LIO-SAM+RRT*).FLISPachievesa100%successratewith7mslatency,representinga7-foldspeedupovergrid-basedandathree-order-of-magnitudeimprovementoversampling-basedbaselines.Validatedinoperationalhydropowertunnels,thisapproachoffersascalablesolutionforroboticinspectioninfeature-degradedlinearinfrastructure.Ademonstrationvideoisavailableathttps://youtu.be/Y_ezs1PfLJ4,andthecodeathttps://github.com/ArchibaldGuo/FLISP.git.
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