@inproceedings{Jonas2025_coverage_path_planning,
 abstract = {Non-destructive inspection of composite materials is a critical process  in industries such as aerospace and construction, where structural integrity must  be verified to prevent catastrophic failures. Ultrasonic testing is a widely used  NDI method for detecting defects in composite parts, but its effectiveness depends  on maintaining a water column  between the probe and the part surface. Traditional  automated  coverage path planning (CPP) approaches fail to ensure full  coverage, particularly along the edges of complex  geometries  where the loss of the water column can compromise  inspection  reliability. This paper presents a novel CPP method for  robotic NDI that enhances inspection coverage by fitting  the edges with parametric Bezier curves to ensure  inspection around the edges before constructing the  remainder of the path. The method then refines the path  using a modified potential field algorithm and a redundant  coverage elimination algorithm. The result of the proposed  method is a largely automated, efficient NDI process while  maintaining a high quality of inspection.},
 author = {Beachy, Jonas and Chen, Xu},
 author+an = {1:family=student;2=xc},
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 booktitle = {IEEE 21st International Conference on Automation Science and Engineering (CASE)},
 date-added = {2025-04-17 12:07:49 -0700},
 date-modified = {2026-03-31 18:01:01 -0700},
 doi = {10.1109/CASE58245.2025.11163896},
 month = {August},
 pages = {1816-1821},
 title = {Coverage Path Planning for Ultrasonic Non-Destructive Inspection},
 year = {2025}
}