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Watchman Routes for Robot Inspection

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Towards Autonomous Robotic Systems (TAROS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11650))

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Abstract

Inspection is a hot topic of robotics recently, and there are many different ways to solve the inspection problem. In this paper, we propose a new framework for a robust and efficient inspection of the entire workspace in a watchman route based on automatically generated waypoints. The framework architecture design includes several relevant technologies and refines algorithms such as medial axis transformation, shortest path approximation, and Monte-Carlo search for finding tours. This framework is evaluated in a client-server system: the simulation of the robot is run on Unity, while data processing is executed in a Python server. Experimenting with this approach, the measured inspection coverage of the workspace on random terrains was at least 99.6%.

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Notes

  1. 1.

    For a video see https://youtu.be/9ZnxsA5db7w.

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Author information

Authors and Affiliations

  1. Department of Informatics, King’s College London, London, UK

    Stefan Edelkamp & Zhuowei Yu

Authors
  1. Stefan Edelkamp
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  2. Zhuowei Yu
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Corresponding author

Correspondence to Stefan Edelkamp .

Editor information

Editors and Affiliations

  1. Queen Mary University of London, London, UK

    Kaspar Althoefer

  2. Queen Mary University of London, London, UK

    Jelizaveta Konstantinova

  3. Queen Mary University of London, London, UK

    Ketao Zhang

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Edelkamp, S., Yu, Z. (2019). Watchman Routes for Robot Inspection. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11650. Springer, Cham. https://doi.org/10.1007/978-3-030-25332-5_16

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  • DOI: https://doi.org/10.1007/978-3-030-25332-5_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-25331-8

  • Online ISBN: 978-3-030-25332-5

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