{"id":"https://openalex.org/W2603927473","doi":"https://doi.org/10.1017/s0263574716000084","title":"An incremental sampling-based approach to inspection planning: the rapidly exploring random tree of trees","display_name":"An incremental sampling-based approach to inspection planning: the rapidly exploring random tree of trees","publication_year":2016,"publication_date":"2016-03-11","ids":{"openalex":"https://openalex.org/W2603927473","doi":"https://doi.org/10.1017/s0263574716000084","mag":"2603927473"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574716000084","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574716000084","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/2F7B0EB399B467FD3EC2D7F55D4F7218/S0263574716000084a.pdf/div-class-title-an-incremental-sampling-based-approach-to-inspection-planning-the-rapidly-exploring-random-tree-of-trees-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/2F7B0EB399B467FD3EC2D7F55D4F7218/S0263574716000084a.pdf/div-class-title-an-incremental-sampling-based-approach-to-inspection-planning-the-rapidly-exploring-random-tree-of-trees-div.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086761249","display_name":"Andreas Bircher","orcid":"https://orcid.org/0000-0001-9822-6304"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Andreas Bircher","raw_affiliation_strings":["\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065096534","display_name":"Ulrich Schwesinger","orcid":null},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Ulrich Schwesinger","raw_affiliation_strings":["\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037725766","display_name":"Sammy Omari","orcid":null},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Sammy Omari","raw_affiliation_strings":["\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012356005","display_name":"Michael Burri","orcid":"https://orcid.org/0000-0002-4540-2519"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Michael Burri","raw_affiliation_strings":["\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland","\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2021University of Nevada, Reno, 1664 N. Virginia St., 89557, Reno, NV, US","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"\u2020Autonomous Systems Lab at ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0564,"has_fulltext":true,"cited_by_count":54,"citation_normalized_percentile":{"value":0.96170682,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"35","issue":"6","first_page":"1327","last_page":"1340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.7590196132659912},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7237769961357117},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6780576109886169},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.6295126080513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5946110486984253},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5777138471603394},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5760783553123474},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5370949506759644},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5138381123542786},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5092381238937378},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44098007678985596},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43648621439933777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3734223246574402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3507347106933594},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2862801253795624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24082636833190918}],"concepts":[{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7590196132659912},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7237769961357117},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6780576109886169},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.6295126080513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5946110486984253},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5777138471603394},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5760783553123474},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5370949506759644},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5138381123542786},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5092381238937378},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44098007678985596},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43648621439933777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3734223246574402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3507347106933594},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2862801253795624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24082636833190918},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574716000084","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574716000084","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/2F7B0EB399B467FD3EC2D7F55D4F7218/S0263574716000084a.pdf/div-class-title-an-incremental-sampling-based-approach-to-inspection-planning-the-rapidly-exploring-random-tree-of-trees-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/260222","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/260222","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica, 35 (6)","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"doi:10.3929/ethz-b-000260222","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000260222","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.1017/s0263574716000084","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574716000084","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/2F7B0EB399B467FD3EC2D7F55D4F7218/S0263574716000084a.pdf/div-class-title-an-incremental-sampling-based-approach-to-inspection-planning-the-rapidly-exploring-random-tree-of-trees-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G7675588969","display_name":null,"funder_award_id":"644128","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7842005466","display_name":null,"funder_award_id":"Horizon 2020","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":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2603927473.pdf","grobid_xml":"https://content.openalex.org/works/W2603927473.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W140238390","https://openalex.org/W249091067","https://openalex.org/W307896644","https://openalex.org/W1544032329","https://openalex.org/W1555471913","https://openalex.org/W1607046631","https://openalex.org/W1925307928","https://openalex.org/W1971086298","https://openalex.org/W1978301848","https://openalex.org/W1980064148","https://openalex.org/W2019738489","https://openalex.org/W2024676408","https://openalex.org/W2028054970","https://openalex.org/W2029199489","https://openalex.org/W2030174522","https://openalex.org/W2036016432","https://openalex.org/W2081716160","https://openalex.org/W2094208910","https://openalex.org/W2105248582","https://openalex.org/W2133844819","https://openalex.org/W2138800545","https://openalex.org/W2145364790","https://openalex.org/W2502636724","https://openalex.org/W2735608840","https://openalex.org/W4231858761","https://openalex.org/W4255885994","https://openalex.org/W6640371294"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2797949337","https://openalex.org/W3158818664","https://openalex.org/W4388720133","https://openalex.org/W2359600231","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W1660309994","https://openalex.org/W2118356379","https://openalex.org/W3216757130"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"new":[2],"algorithm,":[3],"called":[4],"rapidly":[5],"exploring":[6],"random":[7],"tree":[8],"of":[9,20,29,35,61,84,95,100,119,160],"trees":[10,64],"(RRTOT)":[11],"is":[12,114,136],"proposed,":[13],"that":[14,49,86,94],"aims":[15],"to":[16,67,121],"address":[17],"the":[18,82,88,97,107,117,127,131,155,161],"challenge":[19],"planning":[21,91],"for":[22],"autonomous":[23],"structural":[24],"inspection.":[25],"Given":[26],"a":[27,30,32,57,149],"representation":[28],"structure,":[31],"visibility":[33],"model":[34],"an":[36,39],"onboard":[37],"sensor,":[38],"initial":[40],"robot":[41],"configuration":[42],"and":[43,56,103,141,158],"constraints,":[44],"RRTOT":[45,77,120],"computes":[46],"inspection":[47,89,163],"paths":[48,70],"provide":[50],"full":[51],"coverage.":[52],"Sampling":[53],"based":[54],"techniques":[55],"meta-tree":[58],"structure":[59],"consisting":[60],"multiple":[62],"RRT*":[63],"are":[65],"employed":[66],"find":[68,122],"admissible":[69,123],"with":[71,148],"decreasing":[72],"cost.":[73],"Using":[74],"this":[75],"approach,":[76],"does":[78],"not":[79],"suffer":[80],"from":[81],"limitations":[83],"strategies":[85],"separate":[87],"path":[90,110],"problem":[92],"into":[93],"finding":[96],"minimum":[98],"set":[99],"observation":[101],"points":[102],"only":[104],"afterwards":[105],"compute":[106],"best":[108],"possible":[109],"among":[111],"them.":[112],"Analysis":[113],"provided":[115],"on":[116],"capability":[118],"solutions":[124],"that,":[125],"in":[126,138],"limit":[128],"case,":[129],"approach":[130],"optimal":[132],"one.":[133],"The":[134],"algorithm":[135],"evaluated":[137],"both":[139],"simulation":[140],"experimental":[142,156],"studies.":[143],"An":[144],"unmanned":[145],"rotorcraft":[146],"equipped":[147],"vision":[150],"sensor":[151],"was":[152,165],"utilized":[153],"as":[154],"platform":[157],"validation":[159],"achieved":[162],"properties":[164],"performed":[166],"using":[167],"3D":[168],"reconstruction":[169],"techniques.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":5}],"updated_date":"2026-06-12T08:23:45.883708","created_date":"2025-10-10T00:00:00"}
