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Multi-Domain Robot Swarm for Industrial Mapping and Asset Monitoring: Technical Challenges and Solutions.

Fethi Ouerdane¹, Ahmed Abubaker¹, Mubarak Badamasi Aremu¹

¹Control & Instrumentation Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia.

Sensors (Basel, Switzerland)

|October 29, 2025

Summary

This study introduces a multi-domain robotic swarm using ground and aerial vehicles for industrial asset monitoring. The system accurately detects and reads gauge meters in complex environments, improving inspection efficiency.

Keywords:

AprilTags ROS SLAM Simulink UAV–UGV collaboration YOLOv5 digital meter reading hardware-in-the-loop (HIL) testing real-time communication vision-based landing

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Area of Science:

Robotics
Artificial Intelligence
Industrial Automation

Background:

Industrial environments present significant challenges for manual gauge meter inspection due to accessibility issues.
Existing monitoring methods are often inefficient and hazardous in confined, underground, or high-altitude locations.

Purpose of the Study:

To develop a multi-domain robotic swarm system for intelligent industrial mapping and asset monitoring.
To integrate heterogeneous ground and aerial robotic platforms for enhanced inspection capabilities.

Main Methods:

Integrated a TurtleBot 2 (ground vehicle) with SLAM and LiDAR for mapping, and a QDrone 2 (aerial vehicle) for image capture.
Developed a multi-domain robotic swarm system for coordinated industrial inspection tasks.
Evaluated system performance in simulated and real-world industrial inspection scenarios.

Main Results:

Achieved accurate mapping and high localization precision with the robotic swarm.
Demonstrated 84% accuracy in detecting meter gauges and 87.5% accuracy in reading indicators using OCR.
Successfully navigated complex industrial environments, validating real-time collaboration between robotic platforms.

Conclusions:

The developed multi-domain robotic swarm system offers a viable intelligent solution for industrial asset monitoring.
The integration of ground and aerial robots enhances inspection efficiency and safety in challenging industrial settings.
The system shows significant potential for real-time, collaborative robotic operations in industrial environments.