Multirobot inspection of industrial machinery
Name
Correll-2009-Multirobot Inspectio.pdf
Size
3.16 MB
Format
Adobe PDF
Checksum (MD5)
cfadb429027f99287c3fa7892e3a5430
Author(s)
Correll, Nikolaus
Martinoli, Alcherio
Date Issued
March 2009
Journal
IEEE Robotics and Automation Magazine
Publisher
Institute of Electrical and Electronics Engineers
Citation
Correll, N.; Martinoli, A.; , "Multirobot inspection of industrial machinery," Robotics & Automation Magazine, IEEE , vol.16, no.1, pp.103-112, March 2009
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4799452&isnumber=4799428
© 2009 Institute of Electrical and Electronics Engineers
Version
Final published version
Abstract
Inspection of aircraft and power generation machinery using a swarm of miniature robots is a promising application both from an intellectual and a commercial perspective. Our research is motivated by a case study concerned with the inspection of a jet turbine engine by a swarm of miniature robots. This article summarizes our efforts that include multirobot path planning, modeling of self-organized robotic systems, and the implementation of proof-of-concept experiments with real miniature robots. Although other research tackles challenges that arise from moving within three-dimensional (3-D) structured environments at the level of the individual robotic node, the emphasis of our work is on explicitly incorporating the potential limitations of the individual robotic platform in terms of sensor and actuator noise into the modeling and design process of collaborative inspection systems. We highlight difficulties and further challenges on the (lengthy) path toward truly autonomous parallel robotic inspection of complex engineered structures.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher’s policy and may be subject to US copyright law. Please refer to the publisher’s site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1109/MRA.2008.931633
