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cs.RO2023
Active Anomaly Detection in Confined Spaces Using Ergodic Traversal of Directed Region Graphs
Benjamin Wong, Tyler M. Paine, Santosh Devasia +1
We provide the first step toward developing a hierarchical control-estimation framework to actively plan robot trajectories for anomaly detection in confined spaces. The space is r…
cs.RO2022
Human-Assisted Robotic Detection of Foreign Object Debris Inside Confined Spaces of Marine Vessels Using Probabilistic Mapping
Benjamin Wong, Wade Marquette, Nikolay Bykov +2
Many complex vehicular systems, such as large marine vessels, contain confined spaces like water tanks, which are critical for the safe functioning of the vehicles. It is particula…