Hagmanns, RaphaelRaphaelHagmannsRuf, BoitumeloBoitumeloRufBockmühl, RabanusRabanusBockmühlWeißer, MaxMaxWeißerBeyerer, JürgenJürgenBeyerer2024-12-092024-12-092024https://publica.fraunhofer.de/handle/publica/47981110.1109/SSRR62954.2024.10770050We present an infrastructure and model inspection planning approach for known structures in unknown environments. The utilized voxel-based model representations increase the input model flexibility and allow to include environment maps of the surroundings in the planning problem. By simultaneously optimizing both coverage and path length using a GTSP representation, we are able to outperform other state-of-the-art inspection planning routines in both runtime and path length while achieving equivalent coverage.enRuntimeInspectionPath planningSafetySecurityRobotsconference paper