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This paper presents a navigational framework which enables a robot to perform Long Range Navigation in the context of the Air-Cobot-Project in which a robot is used to execute an autonomous pre-flight inspection on an aircraft. The robot is equipped with Laser range finders and a mobile stereo camera system. The idea is to guide the robot to the pre-defined checkpoints using a Visual Servoing controller based on video data, while avoiding static and moving obstacles. The contribution of thedoi:10.5220/0005027800570064 dblp:conf/icinco/FutterliebCS14 fatcat:7ozlpzticrfufkgt6nzvhtnjuu