Autonomous Multi-UAV System for Efficient Scanning of Large Concrete Structures

As Unmanned Aerial Vehicles (UAVs) become increasingly accessible, they pave the way for monitoring and inspecting civil infrastructure in complex and dynamic settings. Utilizing UAVs leads to safer, quicker, and more precise inspections, often surpassing human capabilities. This study expands on prior research by proposing a path-planning method for an autonomous scanning mission using multiple UAVs equipped with onboard cameras to inspect large concrete structures. The primary goals include achieving comprehensive coverage of the structure and gathering and transmitting images to assess the extent of damage due to cracking. The suggested solution is incorporated and assessed through Software-In-the-Loop Simulation, and the findings demonstrate that the proposed algorithm enables robust scanning. However, it should be noted that certain unexpected inefficiencies have been identified when utilizing this multi-UAV system.