{"id":"https://openalex.org/W3204025282","doi":"https://doi.org/10.1109/arso51874.2021.9542838","title":"Small Scale Localized Maintenance of Industrial Infrastructure using Autonomous UAVs","display_name":"Small Scale Localized Maintenance of Industrial Infrastructure using Autonomous UAVs","publication_year":2021,"publication_date":"2021-07-08","ids":{"openalex":"https://openalex.org/W3204025282","doi":"https://doi.org/10.1109/arso51874.2021.9542838","mag":"3204025282"},"language":"en","primary_location":{"id":"doi:10.1109/arso51874.2021.9542838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso51874.2021.9542838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5109071380","display_name":"Aneesh N. Chand","orcid":null},"institutions":[{"id":"https://openalex.org/I182023848","display_name":"Petronas (Malaysia)","ror":"https://ror.org/02tc7rm90","country_code":"MY","type":"company","lineage":["https://openalex.org/I182023848"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Aneesh N. Chand","raw_affiliation_strings":["Robotics Lab, Facilities of the Future, Petronas Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, Facilities of the Future, Petronas Research","institution_ids":["https://openalex.org/I182023848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043904160","display_name":"Vahid Behtaji Siahkal Mahalleh","orcid":null},"institutions":[{"id":"https://openalex.org/I182023848","display_name":"Petronas (Malaysia)","ror":"https://ror.org/02tc7rm90","country_code":"MY","type":"company","lineage":["https://openalex.org/I182023848"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Vahid Mahalleh","raw_affiliation_strings":["Robotics Lab, Facilities of the Future, Petronas Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, Facilities of the Future, Petronas Research","institution_ids":["https://openalex.org/I182023848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075621247","display_name":"Tareq Aziz","orcid":"https://orcid.org/0000-0001-9725-1225"},"institutions":[{"id":"https://openalex.org/I182023848","display_name":"Petronas (Malaysia)","ror":"https://ror.org/02tc7rm90","country_code":"MY","type":"company","lineage":["https://openalex.org/I182023848"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Tareq Aziz","raw_affiliation_strings":["Robotics Lab, Facilities of the Future, Petronas Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, Facilities of the Future, Petronas Research","institution_ids":["https://openalex.org/I182023848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060062978","display_name":"A Karim B A Rahman","orcid":null},"institutions":[{"id":"https://openalex.org/I182023848","display_name":"Petronas (Malaysia)","ror":"https://ror.org/02tc7rm90","country_code":"MY","type":"company","lineage":["https://openalex.org/I182023848"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Arif Rahman","raw_affiliation_strings":["Robotics Lab, Facilities of the Future, Petronas Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, Facilities of the Future, Petronas Research","institution_ids":["https://openalex.org/I182023848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072983698","display_name":"Abdullah Mohammed","orcid":"https://orcid.org/0000-0001-6737-0346"},"institutions":[{"id":"https://openalex.org/I182023848","display_name":"Petronas (Malaysia)","ror":"https://ror.org/02tc7rm90","country_code":"MY","type":"company","lineage":["https://openalex.org/I182023848"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Abdullah Mohammed","raw_affiliation_strings":["Robotics Lab, Facilities of the Future, Petronas Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, Facilities of the Future, Petronas Research","institution_ids":["https://openalex.org/I182023848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036179033","display_name":"Wan Zeid","orcid":null},"institutions":[{"id":"https://openalex.org/I182023848","display_name":"Petronas (Malaysia)","ror":"https://ror.org/02tc7rm90","country_code":"MY","type":"company","lineage":["https://openalex.org/I182023848"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Wan Zeid","raw_affiliation_strings":["Robotics Lab, Facilities of the Future, Petronas Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, Facilities of the Future, Petronas Research","institution_ids":["https://openalex.org/I182023848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I182023848"],"apc_list":null,"apc_paid":null,"fwci":0.8233,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75808572,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"168","last_page":"175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9980000257492065,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5997722148895264},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.46173274517059326},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4590640664100647},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.43478327989578247},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.43218180537223816},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3946576714515686},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.15365815162658691},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09401926398277283},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.0890447199344635}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5997722148895264},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.46173274517059326},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4590640664100647},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.43478327989578247},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.43218180537223816},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3946576714515686},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.15365815162658691},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09401926398277283},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0890447199344635},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso51874.2021.9542838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso51874.2021.9542838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W973598061","https://openalex.org/W2006368361","https://openalex.org/W2097856935","https://openalex.org/W2146382368","https://openalex.org/W2314331228","https://openalex.org/W2475076473","https://openalex.org/W2511763786","https://openalex.org/W2551148062","https://openalex.org/W2766888455","https://openalex.org/W2789261385","https://openalex.org/W2807766400","https://openalex.org/W2965333634","https://openalex.org/W3087308279","https://openalex.org/W3118339428","https://openalex.org/W3160395915","https://openalex.org/W4246483956","https://openalex.org/W6788381525"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2956374172","https://openalex.org/W1964041166","https://openalex.org/W4210818033","https://openalex.org/W4221065211","https://openalex.org/W2351153395"],"abstract_inverted_index":{"The":[0],"use":[1],"of":[2,22,30,76,88,109,128,130],"autonomous":[3],"unmanned":[4],"aerial":[5],"vehicles":[6],"(UAVs)":[7],"for":[8,114],"small":[9,117],"scale":[10],"maintenance":[11,118,143],"tasks":[12,119],"such":[13,35],"as":[14,36],"blasting,":[15],"painting":[16],"and":[17,63,142,150],"ultrasonic":[18],"thickness":[19,122],"(UT)":[20],"measurement":[21],"industrial":[23],"infrastructure":[24],"surfaces":[25],"is":[26],"considered.":[27],"A":[28],"number":[29],"modest":[31],"but":[32],"new":[33],"improvements":[34,95],"sensing":[37],"using":[38,47,59],"a":[39,48],"3D":[40],"non-linear":[41],"Lidar,":[42],"unique":[43],"navigation":[44],"implementation,":[45],"filtering":[46],"predictive":[49],"sliding":[50],"window":[51,55],"filter":[52],"with":[53],"mutating":[54],"size,":[56],"coverage":[57],"planning":[58],"custom":[60],"parametric":[61],"function":[62],"pseudo-velocity":[64],"control":[65],"are":[66,96,103,124],"made":[67],"which":[68,105],"lead":[69],"to":[70,84,112],"an":[71],"appreciable":[72],"increase":[73],"in":[74,98,125],"performance":[75],"the":[77,82,107,126],"integrated":[78],"system.":[79],"This":[80],"allows":[81],"UAV":[83],"achieve":[85],"higher":[86],"levels":[87],"operating":[89],"capability":[90],"than":[91],"currently":[92],"reported.":[93],"These":[94],"reported":[97],"detail.":[99],"Real":[100],"world":[101],"experiments":[102],"conducted":[104],"demonstrate":[106],"feasibility":[108],"endowing":[110],"autonomy":[111],"UAVs":[113],"successfully":[115],"executing":[116],"when":[120,139],"coating":[121],"requirements":[123],"order":[127],"hundreds":[129],"microns.":[131],"Social":[132],"impacts":[133],"include":[134],"improving":[135],"worker":[136],"safety":[137],"conditions":[138],"performing":[140],"inspection":[141],"at":[144],"heights":[145],"by":[146],"eliminating":[147],"scaffolding":[148],"construction":[149],"reducing":[151],"manual":[152],"effort.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}