{"id":"https://openalex.org/W4411093944","doi":"https://doi.org/10.1061/jccee5.cpeng-6619","title":"BIM-Driven Unmanned Ground Vehicle Swarm System for Geometric and Visual Data Collection","display_name":"BIM-Driven Unmanned Ground Vehicle Swarm System for Geometric and Visual Data Collection","publication_year":2025,"publication_date":"2025-06-06","ids":{"openalex":"https://openalex.org/W4411093944","doi":"https://doi.org/10.1061/jccee5.cpeng-6619"},"language":"en","primary_location":{"id":"doi:10.1061/jccee5.cpeng-6619","is_oa":false,"landing_page_url":"https://doi.org/10.1061/jccee5.cpeng-6619","pdf_url":null,"source":{"id":"https://openalex.org/S176637136","display_name":"Journal of Computing in Civil Engineering","issn_l":"0887-3801","issn":["0887-3801","1943-5487"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315747","host_organization_name":"American Society of Civil Engineers","host_organization_lineage":["https://openalex.org/P4310315747"],"host_organization_lineage_names":["American Society of Civil Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing in Civil Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113297076","display_name":"Ricardo Hogan","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]},{"id":"https://openalex.org/I4210131804","display_name":"National Taiwan University Hospital","ror":"https://ror.org/03nteze27","country_code":"TW","type":"healthcare","lineage":["https://openalex.org/I4210131804"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ricardo Hogan","raw_affiliation_strings":["National Taiwan Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taiwan Univ","institution_ids":["https://openalex.org/I16733864","https://openalex.org/I4210131804"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113706647","display_name":"Wei-Yi Hsu","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]},{"id":"https://openalex.org/I4210131804","display_name":"National Taiwan University Hospital","ror":"https://ror.org/03nteze27","country_code":"TW","type":"healthcare","lineage":["https://openalex.org/I4210131804"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Yi Hsu","raw_affiliation_strings":["National Taiwan Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Taiwan Univ","institution_ids":["https://openalex.org/I16733864","https://openalex.org/I4210131804"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044457240","display_name":"Jacob J. Lin","orcid":"https://orcid.org/0000-0002-3781-9402"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]},{"id":"https://openalex.org/I4210131804","display_name":"National Taiwan University Hospital","ror":"https://ror.org/03nteze27","country_code":"TW","type":"healthcare","lineage":["https://openalex.org/I4210131804"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jacob J. Lin","raw_affiliation_strings":["National Taiwan Univ"],"raw_orcid":"https://orcid.org/0000-0002-3781-9402","affiliations":[{"raw_affiliation_string":"National Taiwan Univ","institution_ids":["https://openalex.org/I16733864","https://openalex.org/I4210131804"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006791576","display_name":"Ci\u2010Jyun Liang","orcid":"https://orcid.org/0000-0002-0213-8471"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ci-Jyun Liang","raw_affiliation_strings":["Stony Brook Univ"],"raw_orcid":"https://orcid.org/0000-0002-0213-8471","affiliations":[{"raw_affiliation_string":"Stony Brook Univ","institution_ids":["https://openalex.org/I59553526"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.7251,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.95774289,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"39","issue":"5","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":0.9994000196456909,"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":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9886999726295471,"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/data-collection","display_name":"Data collection","score":0.5664830207824707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5340734124183655},{"id":"https://openalex.org/keywords/geometric-data-analysis","display_name":"Geometric data analysis","score":0.4794434607028961},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.4682926535606384},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.42852041125297546},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3946617841720581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3833998143672943},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3659004271030426},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1196165680885315}],"concepts":[{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.5664830207824707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5340734124183655},{"id":"https://openalex.org/C136520226","wikidata":"https://www.wikidata.org/wiki/Q302814","display_name":"Geometric data analysis","level":2,"score":0.4794434607028961},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.4682926535606384},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.42852041125297546},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3946617841720581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3833998143672943},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3659004271030426},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1196165680885315},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1061/jccee5.cpeng-6619","is_oa":false,"landing_page_url":"https://doi.org/10.1061/jccee5.cpeng-6619","pdf_url":null,"source":{"id":"https://openalex.org/S176637136","display_name":"Journal of Computing in Civil Engineering","issn_l":"0887-3801","issn":["0887-3801","1943-5487"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315747","host_organization_name":"American Society of Civil Engineers","host_organization_lineage":["https://openalex.org/P4310315747"],"host_organization_lineage_names":["American Society of Civil Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing in Civil Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1645548342","https://openalex.org/W2296267969","https://openalex.org/W2535001104","https://openalex.org/W2790443328","https://openalex.org/W2898231767","https://openalex.org/W2900991105","https://openalex.org/W2906636743","https://openalex.org/W2963153230","https://openalex.org/W2969141318","https://openalex.org/W2979477848","https://openalex.org/W3006561271","https://openalex.org/W3011009677","https://openalex.org/W3188255222","https://openalex.org/W3204117507","https://openalex.org/W4224266245","https://openalex.org/W4225264104","https://openalex.org/W4226191039","https://openalex.org/W4226481925","https://openalex.org/W4280652360","https://openalex.org/W4285506552","https://openalex.org/W4298012430","https://openalex.org/W4304080467","https://openalex.org/W4313467118","https://openalex.org/W4313491043","https://openalex.org/W4382600852","https://openalex.org/W4388324569","https://openalex.org/W4388692935","https://openalex.org/W4388745579","https://openalex.org/W4388755261","https://openalex.org/W4391642520","https://openalex.org/W4392846280","https://openalex.org/W4393089535"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017","https://openalex.org/W3205823858"],"abstract_inverted_index":{"Unmanned":[0],"ground":[1],"vehicles":[2],"(UGVs)":[3],"have":[4],"emerged":[5],"for":[6,82],"construction":[7,204],"site":[8,205],"geometric":[9],"and":[10,19,43,95,98,111,173,198],"visual":[11,84,97],"data":[12,52,85,206],"collection,":[13],"which":[14,101],"has":[15,56],"traditionally":[16],"been":[17],"resource-intensive":[18],"hazardous.":[20],"The":[21,39,87,151],"use":[22],"of":[23,194],"multiple":[24,48],"small":[25],"UGVs":[26,49,131],"can":[27,202],"overcome":[28],"single":[29],"large":[30],"UGV":[31,74,90],"challenges":[32],"such":[33],"as":[34],"coverage":[35],"or":[36],"collision":[37],"hazards.":[38],"swarm":[40,75,107,199],"simultaneous":[41],"localization":[42],"mapping":[44],"(SLAM)":[45],"algorithm":[46],"enables":[47],"to":[50,77,92,113,145,181],"share":[51],"simultaneously,":[53],"but":[54],"it":[55],"several":[57],"limitations,":[58],"especially":[59],"at":[60],"the":[61,106,118,121,130,139,156,160,167,175,182,192,195],"beginning":[62],"when":[63],"loop":[64,79,127,136],"closure":[65,80],"is":[66],"not":[67],"detected.":[68],"This":[69],"research":[70],"introduces":[71],"a":[72,114],"model-driven":[73],"system":[76,88],"address":[78],"limitations":[81],"automated":[83],"collection.":[86],"allows":[89],"swarms":[91],"autonomously":[93],"navigate":[94],"gather":[96],"motion":[99],"data,":[100],"are":[102],"then":[103],"refined":[104],"by":[105,171,178],"SLAM":[108,123,200],"front":[109],"end":[110,125],"sent":[112],"base":[115,119],"station.":[116],"At":[117],"station,":[120],"Sswarm":[122],"back":[124],"computes":[126],"closures":[128],"between":[129],"while":[132],"also":[133],"detecting":[134],"additional":[135],"constraints":[137],"with":[138,163],"building":[140],"information":[141],"modeling":[142],"(BIM)":[143],"approach":[144],"generate":[146],"accurate":[147],"point":[148,168],"cloud":[149,169],"data.":[150],"experimental":[152],"results":[153],"demonstrated":[154],"that":[155,191],"proposed":[157],"framework":[158],"in":[159],"\u201ctwo":[161],"robots":[162],"BIM\u201d":[164,186],"case":[165],"improved":[166],"accuracy":[170],"15%":[172],"reduced":[174],"capture":[176],"time":[177],"35%":[179],"compared":[180],"\u201csingle":[183],"robot":[184],"without":[185],"case.":[187],"These":[188],"findings":[189],"highlight":[190],"integration":[193],"BIM":[196],"model":[197],"technology":[201],"enhance":[203],"collection":[207],"processes.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}