  Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of
tasks, including infrastructure inspection, automated monitoring and coverage.
This paper investigates the problem of 3D inspection planning with an
autonomous UAV agent which is subject to dynamical and sensing constraints. We
propose a receding horizon 3D inspection planning control approach for
generating optimal trajectories which enable an autonomous UAV agent to inspect
a finite number of feature-points scattered on the surface of a cuboid-like
structure of interest. The inspection planning problem is formulated as a
constrained open-loop optimal control problem and is solved using mixed integer
programming (MIP) optimization. Quantitative and qualitative evaluation
demonstrates the effectiveness of the proposed approach.
