2018-046 – A motion planner for visual inspection of infrastructure using flying robots

This invention generates a trajectory based on a set of planes, an obstacle map, and a localizability map as input. The trajectory is then executed by the robot to inspect a structure. The trajectory avoids obstacles, can respect a localizability metric, and covers a structure.This technology is mainly software. Scott McEvoy smcevoy@andrew.cmu.edu 412-268-6053

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