Mizutani, Y. and Coimbra Salomao, D. and Crane, A. and Bentert, M. and Drange, P. and Reidl, Felix and Kuntz, A. and Sullivan, B. (2024) Leveraging fixed-parameter tractability for robot inspection planning. In: The 16th International Workshop on the Algorithmic Foundations of Robotics, 07-09 Oct 2024, Chicago, U.S.. (In Press)
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Abstract
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in indus- trial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and efficiently perform such an inspection is an extremely difficult algorithmic challenge. In this work we consider an abstraction of the inspection planning problem which we term Graph Inspection. We give two exact algorithms for this problem, using dy- namic programming and integer linear programming. We analyze the performance of these methods, and present multiple approaches to achieve scalability. We demonstrate significant improvement both in path weight and inspection coverage over a state-of-the-art approach on two robotics tasks in simulation, a bridge inspection task by a UAV and a surgical inspection task using a medical robot.
Metadata
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| School: | Birkbeck Faculties and Schools > Faculty of Science > School of Computing and Mathematical Sciences |
| Depositing User: | Felix Reidl |
| Date Deposited: | 25 Mar 2025 15:33 |
| Last Modified: | 12 Apr 2025 02:57 |
| URI: | https://eprints.bbk.ac.uk/id/eprint/54278 |
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