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| Autori principali: | , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2404.12785 |
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| _version_ | 1866912875743805440 |
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| author | Staniaszek, Michal Flatscher, Tobit Rowell, Joseph Niu, Hanlin Liu, Wenxing You, Yang Skilton, Robert Fallon, Maurice Hawes, Nick |
| author_facet | Staniaszek, Michal Flatscher, Tobit Rowell, Joseph Niu, Hanlin Liu, Wenxing You, Yang Skilton, Robert Fallon, Maurice Hawes, Nick |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_12785 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | AutoInspect: Towards Long-Term Autonomous Industrial Inspection Staniaszek, Michal Flatscher, Tobit Rowell, Joseph Niu, Hanlin Liu, Wenxing You, Yang Skilton, Robert Fallon, Maurice Hawes, Nick Robotics 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. |
| title | AutoInspect: Towards Long-Term Autonomous Industrial Inspection |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.12785 |