The term Scan-N-Plan generally describes a perception-driven approach for performing surface processing manufacturing tasks (e.g., painting, sanding, grinding) in a dynamic, unstructured environment using a robot.

Supporting Projects

This repository builds on capabilities from the following supporting projects:

Sensor Calibration
- Industrial Calibration
- Industrial Calibration ROS2
Surface Reconstruction
- Industrial Reconstruction
Tool Path Planning
- Noether
Motion Planning
- Tesseract
- Trajopt
- OMPL
- Descartes
Application
- BehaviorTree.CPP
- BehaviorTree.ROS2

History

The concept of Scan-N-Plan has gone through several iterations of development during the lifetime of the ROS-Industrial project. See the following projects for more details.

Godel
- ROS-I Consortium Blending FTP (2014 - 2017)
  - Milestones 1, 2
  - Milestone 3
  - Milestone 4
A5
- Advanced Automation for Agile Aerospace Applications, Milestones 1-2 (2017-2023)
- ARM Institute: Mobile Autonomous Coating Application for Aircraft Sustainment
- ARM Institute: Autonomous Coating with Realtime Control and Inspection
Scan-N-Plan Workshop
- ROSCon Workshop (2021)
- ROS-I Consortium Blending FTP (2023 - present)
  - Milestone 5