Dynamic Planning Pipeline for Indoor Inspection Flights

In this report a basic pipeline for planning and operating an indoor drone flight is presented and evaluated in detail. We introduce the structure and interface considerations of a Planner Manager enabling autonomous indoor flights. The interaction routines of different planners are introduced in detail before we evaluate the system in both simulation and real test flights. We show that the system is capable of managing the typical building blocks of a mobile robotics system. Most of the components can be swapped easily to allow for rapid prototyping without the need to rework the whole pipeline.