{"id":"https://openalex.org/W4387034990","doi":"https://doi.org/10.1007/s10846-023-01961-9","title":"Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach","display_name":"Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach","publication_year":2023,"publication_date":"2023-09-27","ids":{"openalex":"https://openalex.org/W4387034990","doi":"https://doi.org/10.1007/s10846-023-01961-9"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-023-01961-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01961-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01961-9.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01961-9.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032971259","display_name":"Vignesh Kottayam Viswanathan","orcid":"https://orcid.org/0000-0002-4383-7316"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Vignesh Kottayam Viswanathan","raw_affiliation_strings":["Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-4383-7316","affiliations":[{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090279927","display_name":"Bj\u00f6rn Lindqvist","orcid":"https://orcid.org/0000-0003-3922-1735"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bj\u00f6rn Lindqvist","raw_affiliation_strings":["Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039128725","display_name":"Sumeet Gajanan Satpute","orcid":"https://orcid.org/0000-0003-1437-1809"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sumeet Gajanan Satpute","raw_affiliation_strings":["Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5  University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]},{"raw_affiliation_string":"Robotics and AI, Department of Computer Science, Electrical and Space Engineering, Lule\u00e5\u00a0\u00a0University of Technology, Lule\u00e5, 97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5032971259"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":2.7605,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.92303428,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"109","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7037206888198853},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5028244853019714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4933580458164215},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.48526236414909363},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.4435425400733948},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4281705915927887},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.4136677384376526},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3689744174480438},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35390540957450867},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3383238911628723},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21942800283432007}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7037206888198853},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5028244853019714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4933580458164215},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.48526236414909363},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.4435425400733948},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4281705915927887},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.4136677384376526},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3689744174480438},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35390540957450867},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3383238911628723},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21942800283432007},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-023-01961-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01961-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01961-9.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:ltu-101299","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-101299","pdf_url":"https://ltu.diva-portal.org/smash/get/diva2:1796033/FULLTEXT02","source":{"id":"https://openalex.org/S4306400653","display_name":"Diva portal (Dalarna University Library)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10846-023-01961-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01961-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01961-9.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5135949585","display_name":"NEXT GENERATION CARBON NEUTRAL PILOTS FOR SMART INTELLIGENT MINING SYSTEMS","funder_award_id":"101003591","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387034990.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W2151103935","https://openalex.org/W2465948386","https://openalex.org/W2482852384","https://openalex.org/W2552165419","https://openalex.org/W2607968634","https://openalex.org/W2615547864","https://openalex.org/W2617643478","https://openalex.org/W2743056029","https://openalex.org/W2784803666","https://openalex.org/W2811158378","https://openalex.org/W2887161133","https://openalex.org/W2898231767","https://openalex.org/W2902410914","https://openalex.org/W2910653560","https://openalex.org/W2912372166","https://openalex.org/W2973864946","https://openalex.org/W2975081435","https://openalex.org/W2986322512","https://openalex.org/W2998460252","https://openalex.org/W3047628358","https://openalex.org/W3097090618","https://openalex.org/W3100948105","https://openalex.org/W3102129812","https://openalex.org/W3108548751","https://openalex.org/W3125164440","https://openalex.org/W3172407388","https://openalex.org/W3193232107","https://openalex.org/W3198239826","https://openalex.org/W4205712102","https://openalex.org/W4205992562","https://openalex.org/W4221033586","https://openalex.org/W4287883061","https://openalex.org/W4289828929","https://openalex.org/W4289829118","https://openalex.org/W4289829308","https://openalex.org/W4294692035","https://openalex.org/W4315488750","https://openalex.org/W4327522810","https://openalex.org/W4383066136","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1891287906","https://openalex.org/W2979718872","https://openalex.org/W3158534694","https://openalex.org/W4290774832","https://openalex.org/W3206828132","https://openalex.org/W4293067784","https://openalex.org/W2391167130","https://openalex.org/W2092071486","https://openalex.org/W4283067488","https://openalex.org/W2460246254"],"abstract_inverted_index":{"Abstract":[0],"This":[1,136],"paper":[2],"highlights":[3],"the":[4,24,91,108,117,122,146],"significance":[5],"of":[6,26,44,86,110],"maintaining":[7],"and":[8,15,36,48,75,83,128,141,166,172,180],"enhancing":[9],"situational":[10],"awareness":[11],"in":[12,51],"Urban":[13],"Search":[14],"Rescue":[16],"(USAR)":[17],"missions.":[18],"It":[19],"focuses":[20],"specifically":[21],"on":[22,133,151],"investigating":[23],"capabilities":[25,35],"Unmanned":[27],"Aerial":[28],"Vehicles":[29],"(UAV)":[30],"equipped":[31],"with":[32,116],"limited":[33],"sensing":[34],"onboard":[37],"computational":[38,142],"resources":[39],"to":[40,58,124,148],"perform":[41],"visual":[42,99,118],"inspections":[43],"apriori":[45],"unknown":[46],"fractured":[47],"collapsed":[49],"structures":[50,130],"unfamiliar":[52],"environments.":[53],"The":[54,158],"proposed":[55,159],"approach,":[56],"referred":[57],"as":[59],"First":[60],"Look":[61],"Inspect-Explore":[62],"(FLIE),":[63],"employs":[64],"a":[65,81,96,111,134],"flexible":[66],"bifurcated":[67],"behavior":[68],"tree":[69],"that":[70],"leverages":[71],"real-time":[72],"RGB":[73],"image":[74],"depth":[76],"cloud":[77],"data.":[78],"By":[79],"employing":[80],"recursive":[82],"reactive":[84],"synthesis":[85],"safe":[87],"view":[88],"pose":[89],"within":[90],"inspection":[92],"module,":[93],"FLIE":[94],"incorporates":[95],"novel":[97],"active":[98],"guidance":[100,119],"scheme":[101],"for":[102],"identifying":[103],"previously":[104],"inspected":[105],"surfaces.":[106],"Furthermore,":[107],"integration":[109],"tiered":[112],"hierarchical":[113],"exploration":[114],"module":[115],"system":[120],"enables":[121],"UAV":[123],"navigate":[125],"towards":[126],"new":[127],"unexplored":[129],"without":[131],"relying":[132],"map.":[135,157],"decoupling":[137],"reduces":[138],"memory":[139],"overhead":[140],"effort":[143],"by":[144],"eliminating":[145],"need":[147],"plan":[149],"based":[150],"an":[152],"incrementally":[153],"built,":[154],"error-prone":[155],"global":[156],"autonomy":[160],"is":[161],"extensively":[162],"evaluated":[163],"through":[164],"simulation":[165],"experimental":[167],"verification":[168],"under":[169],"various":[170],"scenarios":[171],"compared":[173],"against":[174],"state-of-art":[175],"approaches,":[176],"demonstrating":[177],"its":[178],"performance":[179],"effectiveness.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-26T07:53:14.480251","created_date":"2025-10-10T00:00:00"}