We give an overview of AutoInspect, a ROS-based software system for robust and extensible mission-level autonomy. Over the past three years AutoInspect has been deployed in a variety of environments, including at a mine, a chemical plant, a mock oil rig, decommissioned nuclear power plants, and a fusion reactor for durations ranging from hours to weeks. The system combines robust mapping and localisation with graph-based autonomous navigation, mission execution, and scheduling to achieve a complete autonomous inspection system. The time from arrival at a new site to autonomous mission execution can be under an hour. It is deployed on a Boston Dynamics Spot robot using a custom sensing and compute payload called Frontier. In this work we go into detail of the system's performance in two long-term deployments of 49 days at a robotics test facility, and 35 days at the Joint European Torus (JET) fusion reactor in Oxfordshire, UK.

翻译：本文概述了AutoInspect系统——一个基于ROS（机器人操作系统）的软件系统，用于实现稳健且可扩展的任务级自主性。在过去三年中，AutoInspect已在多种环境中部署，包括矿山、化工厂、模拟石油钻井平台、退役核电站及一座聚变反应堆，作业时长从数小时到数周不等。该系统将稳健的建图与定位技术、基于图的自主导航、任务执行与调度相结合，构建了一套完整的自主巡检系统。从抵达新场地到执行自主任务的时间可缩短至一小时以内。该系统搭载于波士顿动力公司（Boston Dynamics）的Spot四足机器人上，并采用名为Frontier的定制化传感与计算载荷。本文详细介绍了系统在英国牛津郡一座机器人测试设施持续49天、以及联合欧洲环（JET）聚变反应堆持续35天的两次长期部署中的性能表现。