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 - 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 -