[software] Open-Source Structural Inspection Path-Planning Toolbox

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[software] Open-Source Structural Inspection Path-Planning Toolbox

This post was updated on .
A new software package for Structural Inspection Path-Planning using Aerial Robots (and not only) is released and open-sourced. Those interested, may find the complete software as well as its wiki documentation in the "ethz-asl/StructuralInspectionPlanner" Git Repository:


The implemeted method is the one presented in our recent ICRA 2015 paper contribution:

A. Bircher, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel and R. Siegwart, "Structural Inspection Path Planning via Iterative Viewpoint Resampling with Application to Aerial Robotics", IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015

The toolbox can be used "as is" via its ROS interfaces or be employed as the basis for further developments. We look forward for your comments and feedback!

Dr. Kostas Alexis
Autonomous Systems Laboratory
ETH Zurich, LEE J314
Leonhardstrasse 21
8092, Zurich, Switzerland
Phone: +41 44 632 54 93
Kostas Alexis