AutoInspect: Towards Long-Term Autonomous Industrial Inspection
<|reference_start|>AutoInspect: Towards Long-Term Autonomous Industrial Inspection: 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.<|reference_end|>
@article{staniaszek2024autoinspect:,
    title={AutoInspect: Towards Long-Term Autonomous Industrial Inspection},
    author={Michal Staniaszek, Tobit Flatscher, Joseph Rowell, Hanlin Niu, Wenxing
  Liu, Yang You, Robert Skilton, Maurice Fallon, Nick Hawes},
    journal={arXiv preprint arXiv:2404.12785},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.12785},
    primaryClass={cs.RO}
}