We present the Dynamic Stack Decider (DSD), a lightweight open-source control architecture. It combines different well-known approaches and is inspired by behavior trees as well as hierarchical state machines. The DSD allows to design and structure complex behavior of robots as well as software agents while providing easy maintainability. Challenges that often occur in robotics, i.e., a dynamic environment and situation uncertainty, remain well-manageable. Furthermore, it allows fast modifications of the control flow, while providing the state-fullness of a state machine. The approach allows developing software using a simple Domain Specific Language (DSL) which defines the control flow and two types of elements that contain the programmed parts. The framework takes care of executing the demanded portions of the code and gives, due to its stack-like internal representation, the ability to verify preconditions while maintaining a clear structure. The presented software was used in different robotic scenarios and showed great performance in terms of flexibility and structuredness.

The aviation industry relies on continuous inspections to ensure infrastructure safety, particularly in confined spaces like aircraft fuel tanks, where human inspections are labor-intensive, risky, and expose workers to hazardous exposures. Robotic systems present a promising alternative to these manual processes but face significant technical and operational challenges, including technological limitations, retraining requirements, and economic constraints. Additionally, existing prototypes often lack open-source documentation, which restricts researchers and developers from replicating setups and building on existing work. This study addresses some of these challenges by proposing a modular, open-source framework for robotic inspection systems that prioritizes simplicity and scalability. The design incorporates a robotic arm and an end-effector equipped with three RGB-D cameras to enhance the inspection process. The primary contribution lies in the development of decentralized software modules that facilitate integration and future advancements, including interfaces for teleoperation and motion planning. Preliminary results indicate that the system offers an intuitive user experience, while also enabling effective 3D reconstruction for visualization. However, improvements in incremental obstacle avoidance and path planning inside the tank interior are still necessary. Nonetheless, the proposed robotic system promises to streamline development efforts, potentially reducing both time and resources for future robotic inspection systems.