{"paper":{"title":"Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Khang Nguyen, Minh Nhat Vu, Vien Ngo, Vu Trung Tran","submitted_at":"2026-06-17T17:14:54Z","abstract_excerpt":"We present a unified framework that turns a set of 6-DoF inspection viewpoints into a time-optimal, collision-free route for a 9-DoF robotic system. Unlike modular pipelines that fix a single inverse-kinematics (IK) configuration per viewpoint, build an all-pairs travel-time map, and then route, our method jointly optimizes the visiting order and the per-viewpoint configuration in a single global search. The three-dimensional self-motion manifold of each viewpoint is parameterized in closed form so that the pose constraint holds by construction, the rest-to-rest travel time is approximated by "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.20739","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.20739/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}