For example, given a scan task from

For example, given a scan task from the user, the planner will construct a flexible plan that instructs ODIS to follow a path through the entire parking lot that passes by each stall. As ODIS passes each stall, it will be instructed as part of the plan to determine if a vehicle is in a stall. If so, ODIS then determines if the vehicle is ‘‘suspicious’’ (perhaps through a license plate or bar code check). If a suspicious vehicle is found it is then inspected. To do this, ODIS will execute an intelligent behavior to identify the vehicle’s location, including the location of the tires. From this, ODIS will plan and execute a local sweep path under the vehicle that will provide to the operator, complete streaming video coverage of the underside of the vehicle. After inspecting a vehicle in a prescribed stall, ODIS proceeds to the next stall or returns to the base station, depending upon the nature of the task and any further operator tasks assigned.