Collaboration and Management of Heterogeneous Robotic Systems for Road Network Construction, Management, and Maintenance under the Vision of “BIM + GIS” Technology

Abstract

In modern society, intelligent spatial analysis services have been playing an important role in building smart cities. Especially, people’s spatial information needs have changed with the technological progress of times, from traditional two-dimensional appearance to three-dimensional interior. In this case, the construction of street networks is a key part of spatial information analysis research. Establishing an integrated indoor-outdoor street network data model with accurate information and complete attributes can provide strong technical support for indoor-outdoor navigation, emergency evacuation, and other application services. However, most of the current studies on internal and external road networks are independent of each other. This means that indoor road networks are mainly based on floor plans, which contain little information and do not represent the spatial relationships between floors. Indoor and outdoor links often suffer from poor connectivity and data loss. Heterogeneous robotics is a high degree of integration of intelligent control and platform control technologies. In a sense, it is a technology platform for connecting heterogeneous robotic populations. By developing effective collaboration and control strategies, tasks can be performed with the highest success rate and the lowest risk while respecting spatial and temporal constraints. As a result, the study of the coordination and management of heterogeneous robotic systems for road network construction, management, and maintenance is a topic of a great theoretical value and significance. Therefore, this paper proposes an intelligent road network construction method that incorporates BIM and GIS technologies. This study uses the building information model to enrich the information of indoor building components and combines the strong spatial analysis capability of outdoor areas with GIS road network technology to build an indoor road network and design a connection scheme for indoor and outdoor areas. After that, the construction of an integrated indoor-outdoor street network is completed, and the interaction between indoor as well as outdoor spatial data is very smooth.