{"id":"https://openalex.org/W3177831294","doi":"https://doi.org/10.1007/978-3-030-97672-9_23","title":"Towards Autonomous Pipeline Inspection with\u00a0Hierarchical Reinforcement Learning","display_name":"Towards Autonomous Pipeline Inspection with\u00a0Hierarchical Reinforcement Learning","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W3177831294","doi":"https://doi.org/10.1007/978-3-030-97672-9_23","mag":"3177831294"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-97672-9_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-97672-9_23","pdf_url":null,"source":{"id":"https://openalex.org/S4210169156","display_name":"Lecture notes in networks and systems","issn_l":"2367-3370","issn":["2367-3370","2367-3389"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Networks and Systems","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.03685","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001000324","display_name":"Nicol\u00f2 Botteghi","orcid":"https://orcid.org/0000-0003-3676-3619"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Nicol\u00f2 Botteghi","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062364371","display_name":"Luuk Grefte","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Luuk Grefte","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046610258","display_name":"Mannes Poel","orcid":"https://orcid.org/0000-0002-3813-9732"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mannes Poel","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056056423","display_name":"Beril S\u0131rma\u00e7ek","orcid":"https://orcid.org/0000-0002-0343-5072"},"institutions":[{"id":"https://openalex.org/I2801398864","display_name":"Saxion University of Applied Sciences","ror":"https://ror.org/005t9n460","country_code":"NL","type":"education","lineage":["https://openalex.org/I2801398864"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Beril Sirmacek","raw_affiliation_strings":["Saxion University of Applied Science, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Saxion University of Applied Science, Enschede, The Netherlands","institution_ids":["https://openalex.org/I2801398864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078725649","display_name":"Christoph Br\u00fcne","orcid":"https://orcid.org/0000-0003-0145-5069"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Christoph Brune","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048109116","display_name":"Edwin Dertien","orcid":"https://orcid.org/0009-0005-7401-4266"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Edwin Dertien","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Stefano Stramigioli","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001000324"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":2.585,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.88222292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"259","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8507887721061707},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.8131459951400757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6865516901016235},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6076306104660034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6039785742759705},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.595441997051239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5187175869941711},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.4501044452190399},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4391985535621643},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3989366292953491},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38326185941696167},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.178153395652771}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8507887721061707},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.8131459951400757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6865516901016235},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6076306104660034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6039785742759705},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.595441997051239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5187175869941711},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.4501044452190399},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4391985535621643},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3989366292953491},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38326185941696167},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.178153395652771},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1007/978-3-030-97672-9_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-97672-9_23","pdf_url":null,"source":{"id":"https://openalex.org/S4210169156","display_name":"Lecture notes in networks and systems","issn_l":"2367-3370","issn":["2367-3370","2367-3389"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Networks and Systems","raw_type":"book-chapter"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/99b62347-e8c5-4e4b-9075-3cb2d717cf10","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/99b62347-e8c5-4e4b-9075-3cb2d717cf10","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Botteghi, N, Grefte, L, Poel, M, Sirmacek, B, Brune, C, Dertien, E & Stramigioli, S 2022, Towards Autonomous Pipeline Inspection with\u00a0Hierarchical Reinforcement Learning. in J Kim, B Englot, H-W Park, H-L Choi, H Myung, J Kim & J-H Kim (eds), Robot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications. Lecture Notes in Networks and Systems, vol. 429 LNNS, Springer, pp. 259-271, 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021, Daejeon, Korea, Republic of, 16/12/21. https://doi.org/10.1007/978-3-030-97672-9_23","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:arXiv.org:2107.03685","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.03685","pdf_url":"https://arxiv.org/pdf/2107.03685","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:ris.utwente.nl:publications/99b62347-e8c5-4e4b-9075-3cb2d717cf10","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85128455996&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Botteghi , N , Grefte , L , Poel , M , Sirmacek , B , Brune , C , Dertien , E &amp; Stramigioli , S 2022 , Towards Autonomous Pipeline Inspection with\u00a0Hierarchical Reinforcement Learning . in J Kim , B Englot , H-W Park , H-L Choi , H Myung , J Kim &amp; J-H Kim (eds) , Robot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications . Lecture Notes in Networks and Systems , vol. 429 LNNS , Springer , pp. 259-271 , 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 , Daejeon , Korea, Republic of , 16/12/21 . https://doi.org/10.1007/978-3-030-97672-9_23","raw_type":"contributionToPeriodical"},{"id":"pmh:ut:oai:ris.utwente.nl:publications/e745c458-62ea-4f56-8aa7-48e50dbb56df","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/e745c458-62ea-4f56-8aa7-48e50dbb56df","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.03685","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.03685","pdf_url":"https://arxiv.org/pdf/2107.03685","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null},{"id":"https://openalex.org/F4320332030","display_name":"Interreg Vlaanderen-Nederland","ror":null},{"id":"https://openalex.org/F4320337753","display_name":"Interreg","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1556824961","https://openalex.org/W1977655452","https://openalex.org/W1989329448","https://openalex.org/W2025113330","https://openalex.org/W2025208539","https://openalex.org/W2082511574","https://openalex.org/W2101874720","https://openalex.org/W2109910161","https://openalex.org/W2121863487","https://openalex.org/W2154798305","https://openalex.org/W2336416123","https://openalex.org/W2534060593","https://openalex.org/W2594829461","https://openalex.org/W2606433045","https://openalex.org/W2736601468","https://openalex.org/W2765602917","https://openalex.org/W2770873596","https://openalex.org/W2780624097","https://openalex.org/W2788090063","https://openalex.org/W2803281228","https://openalex.org/W2954718200","https://openalex.org/W2963390429","https://openalex.org/W2963504951","https://openalex.org/W2963649664","https://openalex.org/W2964227312","https://openalex.org/W2984863343","https://openalex.org/W3091243689","https://openalex.org/W6634970695"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W20361778","https://openalex.org/W2024136090","https://openalex.org/W1508899372"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
