Preprint
Aug 2026
Observation-Constrained Joint-Space Viewpoint Optimization for Robotic Inspection of Cylindrical Cavities
Inspection is a core capability in many mobile robotics applications, including industrial facility monitoring, infrastructure maintenance, agriculture, and search and rescue. Observing the bottom of a cylindrical cavity, as required by ASTM search-task benchmarks for response robots, presents a representative challeng...
Yue-Zhong Wang, Rong-Shen Yin, Bichi Zhang et al.
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