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Journal Articles IEEE Robotics and Automation Magazine Year : 2019

The VIKINGS Autonomous Inspection Robot: Competing in the ARGOS Challenge

Abstract

This paper presents the overall architecture of the VIKINGS robot, one of the five contenders in the ARGOS challenge and winner of two competitions. The VIKINGS robot is an autonomous or remote-operated robot for the inspection of oil and gas sites and is able to assess various petrochemical risks based on embedded sensors and processing. As described in this article, our robot is able to autonomously monitor all the elements of a petrochemical process on a multi-storey oil platform (reading gauges, state of the valves, proper functioning of the pumps) while facing many hazards (leaks, obstacles or holes in its path). The aim of this article is to present the major components of our robot's architecture and the algorithms we developed for certain functions (localization, gauge reading, etc). We also present the methodology that we adopted and that allowed us to succeed in this challenge.
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Dates and versions

hal-01985234 , version 1 (25-01-2019)

Identifiers

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Merriaux Pierre, Romain Rossi, Rémi Boutteau, Vincent Vauchey, Lei Qin, et al.. The VIKINGS Autonomous Inspection Robot: Competing in the ARGOS Challenge. IEEE Robotics and Automation Magazine, 2019, 26 (1), pp.21-34. ⟨10.1109/MRA.2018.2877189⟩. ⟨hal-01985234⟩
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