This paper presents a technical overview of AutoInspect, a ROS-based software system for
robust and extensible mission-level autonomy. Over the past three years we have deployed AutoInspect
on multiple platforms in a variety of environments, from forests to fusion reactors, for durations ranging
from hours to weeks. The AutoInspect system combin…
We consider planning problems where a robot must visit a large set of locations to complete a task at each one. Our focus is problems where the difficulty of each task, and thus its duration, can be predicted, but not fully known in advance. We propose a general Markov decision process (MDP) model for difficulty-aware problems, and propose varia…
