Autonomous Internal Exploration and Inspection of Confined Spaces

Edge Case Research proposes the development of an Autonomous Confined Space Inspection Platform (ACSIP) to address the U.S. Air Force’s critical need for safe, efficient, and reliable inspection of aircraft fuel tanks and other confined spaces. Leveraging the proven DARPA Subterranean (SubT) robotics stack and Edge Case’s proprietary Safety of the Intended Functionality (SOTIF) Meta-Algorithm, this Phase II SBIR effort will deliver a fully autonomous, safety-assured robotic system capable of navigating and inspecting complex, GPS-denied, and hazardous environments without human entry.The proposed system integrates advanced perception, planning, and control algorithms with real-time safety monitoring to ensure dependable operation in safety-critical conditions. The perception module adapts LiDAR and camera-based SLAM for low-light, feature-sparse environments, enabling high-resolution 3D mapping and defect detection. The navigation system employs adaptive path planning and obstacle avoidance tailored to the unique geometries of aircraft fuel tanks, while the control system ensures precise maneuvering in confined spaces.A key innovation is the integration of runtime safety assurance using statistical anomaly detection techniques, including KL divergence and Wasserstein distance, to monitor deviations from expected operational behavior. This enables the system to detect and respond to unknown hazards in real time, enhancing reliability and trustworthiness. The project also includes a robust simulation-to-reality validation pipeline, ensuring that safety metrics derived in simulation accurately predict real-world performance.The work plan follows a structured, milestone-driven approach aligned with ISO 21448 and MIL-STD-882E standards. It includes hazard analysis, fault tree modeling, SPI instrumentation, simulation-based risk validation, real-world testing, and final system demonstration. The dual-site validation strategy—at Warner Robins Air Logistics Complex and the 171st Air Refueling Wing—ensures scalability and operational relevance across the Air Force enterprise.Commercial applications span aviation, oil and gas, chemical processing, and maritime industries, where confined space inspections are costly, dangerous, and labor-intensive. ACSIP offers a transformative solution, reducing inspection time and cost while eliminating human exposure to hazardous environments. With strong commercial traction, strategic defense partnerships, and a scalable architecture, Edge Case is positioned to lead the market in autonomous inspection systems.