MINOAS Project: Localization, Task Allocation and Path-Planning Architecture System

This paper reports the current developments of the MINOAS project. The project proposes the reengineering of the overall vessel inspection methodology, by introducing an innovative system concept that incorporates state of the art technologies, but at the same time formulates a new standardization of the overall inspection process. MINOAS proposes the development of a new infrastructure that complements human personnel by high locomotion enabled robots and 'teleports' the human inspector from the vessel's hold to a control room with virtual reality properties. In particular, this paper focuses on the architecture of the localization, task allocation and pathplanning system specifying individual robots' modules and the integration within a centralized system.