  We give an overview of AutoInspect, a ROS-based software system for robust
and extensible mission-level autonomy. Over the past three years AutoInspect
has been deployed in a variety of environments, including at a mine, a chemical
plant, a mock oil rig, decommissioned nuclear power plants, and a fusion
reactor for durations ranging from hours to weeks. The system combines robust
mapping and localisation with graph-based autonomous navigation, mission
execution, and scheduling to achieve a complete autonomous inspection system.
The time from arrival at a new site to autonomous mission execution can be
under an hour. It is deployed on a Boston Dynamics Spot robot using a custom
sensing and compute payload called Frontier. In this work we go into detail of
the system's performance in two long-term deployments of 49 days at a robotics
test facility, and 35 days at the Joint European Torus (JET) fusion reactor in
Oxfordshire, UK.
