A class of facade cleaning robot, Mantis is made of three identical modules and a caterpillar-inspired linear actuator bar system. With the linear actuators, each of the impeller modules can be lifted off the facade, allowing Mantis to cross over obstacles on vertical facades with ease. Each module is also equipped with a passive rotary system which allows it to rotate independently from others, enabling Mantis to traverse the facade. Mantis is also equipped with onboard sensors enabling the creation of real-time maps of the operating environment, health monitoring, and optimal cleaning paths.
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