| Abstract: |  This diploma thesis deals with a problem of scheduling inspection tasks in mobile robotics. The inspection task in the context of mobile robotics is a task, where the mobile robot finds a path, such that all objects of interest are seen from at least one point of the path. The solution of these tasks is focused on restricting conditions that respect real characteristics of the mobile robot and its sensor equipment into the planning process in order to find a feasible solution that can be realized by a real mobile robot. Inspection is used in a variety of industrial tasks to facilitate human work. We can encounter it for example in filmmaking industry or security applications. All of the mentioned branches are tied by a requirement to digitize objects of interest that are important to the relative branches. Solutions of inspection tasks are usually limited to two dimensional environment. This diploma thesis focuses on pushing the current method towards a more general planning framework for three dimensional inspection tasks, which are considerably more difficult to implement.Within this work, data structures enabling inspection in three dimensional environment were designed and an environment inspection program using these structures was implemented and experimentally verified.
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