1. Inspection Planning for Sensor Coverage of 3d Marine Structures Brendan Englot and Franz Hover Presented by Arvind Pereira for the CS599 Class on Sequential Decision Making in Robotics

2. Objective Algorithm to achieve complete sensor coverage of complex 3-d structures when surveyed by an autonomous agent with multiple degrees of freedom Motivating application is ship-hull inspection using bathymetric sonar Plans on a closed triangular mesh model of the structure being inspected

3. Related Work Art Gallery Problem – Minimum # of guards who can together observe the entire gallery Car painting/Building inspection – Specific geometry of structure being covered Challenging issues in Computational Geometry for complex 3-d models in the absence of a priori knowledge

4. Related Work Sampling-based planning for similar problems employed the “art gallery” approach i.e. choosing a set of configurations which offer complete coverage and finding a feasible tour among these nodes Postman Framework – information efficient approach to solve deterministically-designed inspections for point robots in a 2-d workspace when robot has a small FOV relative to the size of the workspace

5. Sensor Footprint of a bathymetric sweep

6. Graph Construction Algorithm

7. Find Neighbors

8. Add Missing View to Graph

9. Add To Graph

10. Connect Subtours

11. Path-Finding Algorithm Incidence Matrix for flows Constraint Matrix ensuring that all nodes are inspected by a chosen path Constraint that enforces the initial node is on the graph

12. Structure Models

13. Dense Graphs for Examples

14. Paths Found

15. Subtour Connection

16. Algorithm Performance

17. Conclusion Algorithm ensures coverage planning over arbitrary discrete 3D structures using an information-efficient postman formulation Need to be more efficient in the search for feasible views Want to optimally manage the division between graph construction and path-finding