Multirobot inspection of industrial machinery
Author(s)
Correll, Nikolaus; Martinoli, Alcherio
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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.
Date issued
2009-03Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence LaboratoryJournal
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
ISSN
1070-9932