Sensor Guided Robot Path Generation for Surface Repair Tasks on a Large-Scale Buoyancy Module

In the offshore oil and gas industry, the repair of damaged drilling riser buoyancy modules (DRBMs) currently involves the removal of defective regions using hand-held abrasive tools. This operation is not only time consuming, but also exposes the worker to hazardous materials generated by the grinding process. In order to increase productivity and minimize occupational health hazards, an automate...