Behaviors

Behaviors are high-level actions that support complex maneuvers, such as control of the arm, docking, and perching. They are built upon the more more generic actions offered by other subsystems, such as the mobility subsystem's "motion" action, or the localization manager's "switch" action.

Inspection

Inspection Behavior : Coordinates plan making and mobility for ISAAC specific inspection modes such as geometry surveying, panorama taking, anomaly detection and volumetric inspection.

Cargo Cargo Behavior : Coordinates cargo behaviours such as picking up cargo and dropping off cargo.