This robotic mobile manipulation system will be easily reconfigured by non-specialist personnel to perform autonomous/semi-autonomous tasks in the unstructured environment (autonomous navigation and identification of various types of collimators). Implementing a high performance teleoperation capability will also be necessary for the work in the LHC tunnel to allow safe teaching and learning for robot by teleoperation demonstration and to allow recovery without damaging delicate accelerator equipment in the event of unforeseen problems.
Figure 2: Collimator's Maintenance Spots