تقرير
AutoInspect: Towards Long-Term Autonomous Industrial Inspection
| العنوان: | AutoInspect: Towards Long-Term Autonomous Industrial Inspection |
|---|---|
| المؤلفون: | Staniaszek, Michal, Flatscher, Tobit, Rowell, Joseph, Niu, Hanlin, Liu, Wenxing, You, Yang, Skilton, Robert, Fallon, Maurice, Hawes, Nick |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | We give an overview of AutoInspect, a ROS-based software system for robust and extensible mission-level autonomy. Over the past three years AutoInspect has been deployed in a variety of environments, including at a mine, a chemical plant, a mock oil rig, decommissioned nuclear power plants, and a fusion reactor for durations ranging from hours to weeks. The system combines robust mapping and localisation with graph-based autonomous navigation, mission execution, and scheduling to achieve a complete autonomous inspection system. The time from arrival at a new site to autonomous mission execution can be under an hour. It is deployed on a Boston Dynamics Spot robot using a custom sensing and compute payload called Frontier. In this work we go into detail of the system's performance in two long-term deployments of 49 days at a robotics test facility, and 35 days at the Joint European Torus (JET) fusion reactor in Oxfordshire, UK. Comment: Accepted to the IEEE ICRA Workshop on Field Robotics 2024 |
| نوع الوثيقة: | Working Paper |
| الوصول الحر: | http://arxiv.org/abs/2404.12785Test |
| رقم الانضمام: | edsarx.2404.12785 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |