Abstract:This article presents an active-sensing strategy based on frontier exploration to enable the autonomous reconstruction of the geometry of a metal surface by a mobile robot relying on ultrasonic echoes. Such a strategy can be beneficial to the development of a fully autonomous robotic agent for the inspection of large metal structures such as storage tanks or ship hulls. The developed method relies on a grid map generated by detecting the first echo within the measurements referring to the closest edge to the s… Show more
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