Multi-Agent Visual Navigation for GPS-Denied Indoor Inspection
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Solution Overview
Problem
Existing methods for navigating multiple automated agents in indoor areas for complete coverage are inefficient due to limitations in battery capacity and unreliable GPS or wireless connections, making timely and accurate inspection challenging in low-network coverage environments.
Innovation Solution
A method and system that guide multiple agents using a multi-agent visual navigation system with signalling units and on-board processors, providing first and second navigational instructions based on pass-by information and proximity, allowing agents to dynamically traverse the inspection area for complete coverage without relying on GPS or strong wireless connections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single drone is used to traverse a programmed path for inspection, then the system complexity is reduced, but the inspection time increases and battery capacity limitations prevent complete coverage of large areas
Solution Approach 1:
The inspection system is segmented into multiple independent drones, each capable of autonomous navigation. Instead of one drone covering the entire area, multiple drones divide the inspection space and simultaneously cover different zones, thereby reducing total inspection time while maintaining manageable individual device complexity
Solution Approach 2:
Multiple drones are merged into a coordinated swarm system that operates collectively. The drones share common navigation infrastructure (signalling units) and work in parallel to achieve complete area coverage, combining their individual capabilities to overcome the limitations of a single drone
2Ease of operation
If GPS or wireless connection based localization is used for multiple drones, then navigation capability is improved, but the system becomes unsuitable for indoor spaces and areas with weak GPS or cellular signals
Solution Approach 1:
Signalling units are introduced as intermediary devices deployed throughout the inspection area. These units create a localized navigation infrastructure that mediates between the drones and the environment, enabling precise localization and navigation in GPS-denied indoor spaces through visual or optical signals rather than relying on external satellite or cellular infrastructure
Solution Approach 2:
Instead of relying on external GPS satellites, the system creates artificial navigation signals through signalling units distributed in the environment. Each signalling unit acts as a local copy of a navigation reference point, allowing drones to perform localization and mapping (SLAM) based on these artificial landmarks rather than natural satellite signals
3Productivity
If multiple agents are deployed for complete coverage of large areas, then inspection efficiency is improved, but collision risk and coordination complexity increase
Solution Approach 1:
The system implements continuous feedback loops where each drone monitors the positions and trajectories of other drones in real-time. Navigation instructions are dynamically adjusted based on feedback from signalling units about drone locations, enabling automatic collision avoidance while maintaining high inspection efficiency through coordinated motion planning
Data Source
AI summary
Disclosed herein is a system and a method of guiding a plurality of agents 106 for complete coverage of the inspection area 102. The system and the method provide navigational instructions to navigate the plurality of agents 106 across the plurality of signalling unit 104 for traversing the inspection area 102. The plurality of signalling units 104 are communicatively coupled with the multi-agent visual navigation system for transmitting navigational instructions to the plurality of agents 106 based on pass-by information associated with the plurality of agents 106 obtained at the plurality of signalling units 104 and the pre-determined proximity associated with each pair of the plurality of signalling units. The navigational instructions are provided to the plurality of agents 106 at the plurality of signalling units 106 for subsequent navigation of the plurality of agents 106 across the plurality of signalling units 104 for complete coverage of the inspection area 102.