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Robot task allocation and path-planning systems in the MINOAS project framework

This paper focuses on the architecture of the task allocation and path-planning systems, of the MINOAS project, specifying individual robots' modules and the integration within a centralized system. In particular, a logical tree-based description of the ship structure is introduced; on the basis of such logical description, task allocation and path-planning procedures are developed, in order to associate robotic resources to the areas involved by the inspection and, consequently, to design the reference paths that the robots will pursue to carry out the vessel inspection.