Paper Detail
Fenghe Guo, Runjie Shen, Chenyang Sun, Junrui Zhang, Quanxi Zhan, Yongchun Wang, Junjie Zhang
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 UAV flight; and (3) a hierarchical refinement strategy ensuring kinematic feasibility without state estimation drift. Benchmarks in a 1.2 km operational tunnel demonstrate that FLISP circumvents structural bottlenecks of map-based methods, eliminating map rasterization overhead (Fast-LIO2 + A*) and sampling instability (LIO-SAM + RRT*). FLISP achieves a 100% success rate with 7 ms latency, representing a 7-fold speedup over grid-based and a three-order-of-magnitude improvement over sampling-based baselines. Validated in operational hydropower tunnels, this approach offers a scalable solution for robotic inspection in feature-degraded linear infrastructure. A demonstration video is available at https://youtu.be/Y_ezs1PfLJ4, and the code at https://github.com/ArchibaldGuo/FLISP.git.
No structured notes yet. Add `summary_sections`, `why_relevant`, `claim_impact`, or `next_action` in `papers.jsonl` to enrich this view.
No ranking explanation is available yet.
No tags.
@misc{guo2026large,
title = {Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner},
author = {Fenghe Guo and Runjie Shen and Chenyang Sun and Junrui Zhang and Quanxi Zhan and Yongchun Wang and Junjie Zhang},
year = {2026},
abstract = {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 utilizi},
url = {https://huggingface.co/papers/2606.25393},
keywords = {huggingface daily},
eprint = {2606.25393},
archiveprefix = {arXiv},
}
{}