Systems and methods for robotic inspection with simultaneous surface measurements at multiple orientations with obstacle avoidance

A system, comprising:

• an inspection robot structured to move in a direction of travel on an inspection surface, the inspection robot including:
• a payload comprising:
• a first sensor holder structured to support a first ultrasonic (UT) phased array at a first orientation;
• a second sensor holder structured to hold a second ultrasonic (UT) phased array at a second orientation;
• and
• a sensor holder linking component interposed between the first sensor holder and the second sensor holder, the sensor holder linking component structured to interact with the first sensor holder and the second sensor holder such that the first UT phased array and the second UT phased array are placed in a parallel configuration along a long edge of both the first and second UT phased array;
• and
• a rastering device structured to move the payload in a direction of inspection, the direction of inspection being distinct from the direction of travel and the direction of inspection being distinct from the parallel configuration of the first UT phased array and the second UT phased array.