This paper presents a complete report for the finished ROBO-SPECT
European FP7 project, funded under the ICT-2013.2.2 programme on
Robotics use cases & Accompanying measures, describing a completely
autonomous tunnel inspection robotic system. The document includes a
brief introduction about the motivation of the project, defining
advantages of robotic inspection over manual methods. The paper contains
descriptions of the different components of the robot, including a
mobile vehicle, extended crane, high precision robotic arm, computer
vision system and ultrasonic sensors. Some details about the software
implemented will be discussed as well. Finally, experimental evidence
and details on validation in a real motorway tunnel with ongoing traffic
will be provided.
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