We propose a new method for planning paths allowing the inspection of complex 3D structures, given a triangular mesh model of the structure. The method differs from previous approaches in its emphasis on generating and considering also plans that result in imperfect coverage of the inspection target. In many practical tasks, one would accept imperfections in coverage if this results in a substantially more energy efficient inspection path. We therefore apply an evolutionary multi-objective optimization algorithm to the problem -- which generates a set of solutions exploring the different ways to balance energy usage and coverage degree. To our knowledge, this is the first work that exploits the power of multiobjective evolution to explore the set of inspection plans that result in the most energy-efficient coverage of structures. The performance of the optimizer is demonstrated on a model of a subsea oilfield installation -- a type of structure that has many occluded and hidden parts, and that therefore illustrates the need for a method accepting imperfectly covering solutions.

Presents methods and experiments of adaptive posture control for a four legged walking machine. Starting from the analysis of the implemented movement behaviour of BISAM we identify adequate tasks for adaptive control components and present adaptive posture control mechanisms for statically stable and dynamically stable movements. The reflex-based posture control is implemented via fuzzy control and reinforcement learning. The integration of the posture control in the control architecture is also described.

Presents an adaptive control architecture for the four legged walking machine BISAM. This architecture uses coupled neuro-oscillators as representation of periodic behaviours on different control levels such as joint movement, leg control and leg coordination. Coupled neuro-oscillators together with adaptive sensor based reflexes provide a robust and efficient representation for quadrupedal locomotion and support the use of online learning approaches to realize adaptation and optimization of locomotion behaviours.