TY - GEN
T1 - Autonomous Inspection of a Containment Vessel using a Micro Aerial Vehicle
AU - Thakur, Dinesh
AU - Loianno, Giuseppe
AU - Jarin-Lipschitz, Laura
AU - Zhou, Alex
AU - Kumar, Vijay
N1 - Funding Information:
This research was supported by funding provided by Qualcomm Research, University of Pennsylvania and New York University. We gratefully acknowledge the support of collaborators who could not be listed as coauthors in this paper.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - In this work, we address the design, estimation, planning, control, and mapping problems to allow a small scale quadrotor to autonomously inspect the interior of a Containment Vessel (CV) test fixture, using on-board lighting, computation and sensing. We demonstrate a fully autonomous, 160 cm tip-to-tip, 236 gram Micro Aerial Vehicle (MAV) performing a complex flight mission inside of a dark test fixture that was built from a scale model of a CV. The proposed solution opens up new ways to inspect nuclear power plants and has the potential to support nuclear decommissioning, which is well known to be a dangerous, long, and tedious process. Experimental results show the ability to navigate under dripping water conditions and inside a completely dark, full-scale CV test fixture while concurrently avoiding known and unknown obstacles.
AB - In this work, we address the design, estimation, planning, control, and mapping problems to allow a small scale quadrotor to autonomously inspect the interior of a Containment Vessel (CV) test fixture, using on-board lighting, computation and sensing. We demonstrate a fully autonomous, 160 cm tip-to-tip, 236 gram Micro Aerial Vehicle (MAV) performing a complex flight mission inside of a dark test fixture that was built from a scale model of a CV. The proposed solution opens up new ways to inspect nuclear power plants and has the potential to support nuclear decommissioning, which is well known to be a dangerous, long, and tedious process. Experimental results show the ability to navigate under dripping water conditions and inside a completely dark, full-scale CV test fixture while concurrently avoiding known and unknown obstacles.
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U2 - 10.1109/SSRR.2019.8848936
DO - 10.1109/SSRR.2019.8848936
M3 - Conference contribution
T3 - 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
SP - 196
EP - 202
BT - 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
Y2 - 2 September 2019 through 4 September 2019
ER -