Towards a Generic Solution for Inspection of Industrial Sites.

Autonomous robotic inspection of industrial sites offers a huge potential with respect to increasing human safety and operational efficiency. The present paper provides an insight into the approach taken by team LIO during the ARGOS Challenge. In this international competition, the legged robot ANYmal was equipped with a sensor head to perform visual, acoustic, and thermal inspection on an oil and gas site. The robot was able to autonomously navigate on the outdoor industrial facilty using rotating line-LIDAR sensors for localization and terrain mapping. Thanks to the superior mobility of legged robots, ANYmal can omni-directionally move with statically and dynamically stable gaits while overcoming large obstacles and stairs. Moreover, the versatile machine can adapt its posture for inspection. The paper additionally provides insight into the methods applied for visual inspection of pressure gauges and concludes with some insight into the general learnings from the ARGOS Challenge.