Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction

Unmanned aerial vehicles (UAVs) are extensively employed for urban image captures and the reconstruction of large-scale 3D models due to their affordability versatility. However, most commercial flight software lack support adaptive capture multi-view images. Furthermore, limited performance battery capacity a single UAV hinder efficient capturing scenes. To address these challenges, this paper presents novel method multi-UAV continuous trajectory planning aimed at reconstructions scene. Our primary contribution lies in development path framework rooted task search principles. Within framework, we initially ascertain optimal locations images by assessing scene reconstructability, thereby enhancing overall quality reconstructions. curtail energy costs trajectories allocating sequences, characterized minimal corners lengths, among multiple UAVs. Ultimately, integrate considerations costs, safety, reconstructability into unified optimization process, facilitating paths Empirical evaluations demonstrate efficacy our approach collaborative full-scene UAVs, achieving low while attaining high-quality