Summary
Inspection of confined spaces, such as aircraft wings and ship compartments, is essential for maintaining safety and reliability in critical infrastructure. However, these environments are difficult and hazardous for human workers, and existing robotic methods often struggle to operate efficiently in tight, complex spaces filled with structural constraints. Current exploration strategies tend to generate motion patterns that work well in open areas but are poorly suited for confined environments with limited maneuverability and restricted communication. The research funded by this award seeks
