Maintaining distribution networks used for gas or water takes much time and is expensive. Smart tooling can be one of the solutions to reduce the costs of maintaining such a network.
Faculty RaM is, therefore, developing an autonomous snake-like pipe inspection robot: PIRATE. In the high-level control layer, motion primitives are used. Examples of motion primitives are to clamp, unclamp, drive, bend, or rotate the robot. This control layer sends commands to the robot to execute but does not receive feedback on them.
In this project, we design a preemptable task architecture to execute tasks with the PIRATE.