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GRASP Special Seminar – Andreas Breitenmoser, ETH Zurich, “Coverage in Complex Environments for Multi-Robot Power Plant Inspection”

October 7, 2010 @ 11:00 am - 12:00 pm

Abstract: This talk focuses on coordinating several robots to achieve complete
coverage of geometrically complex environments. I will present
algorithms that we have recently developed for coverage in non-convex
environments using alternating Voronoi tessellations and searching
algorithms, coverage of curved surfaces using Voronoi tessellations
over surface meshes, and collision avoidance for coverage with multiple
non-holonomic robots. I will discuss applications of these algorithms
to the inspection of complex tube-like environments, as they typically
appear in supply infrastructure, industrial installations, and
structures of power plants. I will then describe efforts toward the
implementation of these algorithms on MagneBike, a compact
magnetic-wheeled climbing robot specially designed for power plant


- Learn More

Andreas Breitenmoser is a PhD student in the Autonomous Systems
Laboratory (ASL) at ETH Zurich. His research interests are in the
fields of multi-robot systems, cooperative control, and distributed
coverage algorithms for decentralized perception and actuation tasks.
Andreas has a particular interest in applications of multi-robot
control to power plant inspection, and works closely with partners in
the power plant industry.


October 7, 2010
11:00 am - 12:00 pm
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