{"id":"https://openalex.org/W3129287030","doi":"https://doi.org/10.1109/eit51626.2021.9491887","title":"Smart Navigation for an In-pipe Robot Through Multi-phase Motion Control and Particle Filtering Method","display_name":"Smart Navigation for an In-pipe Robot Through Multi-phase Motion Control and Particle Filtering Method","publication_year":2021,"publication_date":"2021-05-14","ids":{"openalex":"https://openalex.org/W3129287030","doi":"https://doi.org/10.1109/eit51626.2021.9491887","mag":"3129287030"},"language":"en","primary_location":{"id":"doi:10.1109/eit51626.2021.9491887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/eit51626.2021.9491887","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 Electro Information Technology (EIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.11434","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Saber Kazeminasab","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saber Kazeminasab","raw_affiliation_strings":["Texas A&M University, College Station, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vahid Janfaza","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vahid Janfaza","raw_affiliation_strings":["Texas A&M University, College Station, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Moein Razavi","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moein Razavi","raw_affiliation_strings":["Texas A&M University, College Station, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":null,"display_name":"M. Katherine Banks","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Katherine Banks","raw_affiliation_strings":["Texas A&M University, College Station, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":1.5245,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80259182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"342","last_page":"349"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955999851226807,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/robot","display_name":"Robot","score":0.7422999739646912},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6047000288963318},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5231000185012817},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.44510000944137573},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4438999891281128},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.43779999017715454},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4318999946117401},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42890000343322754},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.41609999537467957}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7422999739646912},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6047000288963318},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5231000185012817},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.44510000944137573},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4438999891281128},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.43779999017715454},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42890000343322754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4255000054836273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41929998993873596},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.41609999537467957},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.41530001163482666},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4065000116825104},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.384799987077713},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37700000405311584},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3294000029563904},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.3285999894142151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3257000148296356},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3001999855041504},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29910001158714294},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28209999203681946},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27970001101493835},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.26019999384880066},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.25589999556541443},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2549999952316284},{"id":"https://openalex.org/C557691694","wikidata":"https://www.wikidata.org/wiki/Q185091","display_name":"Remote control","level":2,"score":0.25279998779296875}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/eit51626.2021.9491887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/eit51626.2021.9491887","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 Electro Information Technology (EIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2102.11434","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.11434","pdf_url":"https://arxiv.org/pdf/2102.11434","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.11434","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.11434","pdf_url":"https://arxiv.org/pdf/2102.11434","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1576456446","https://openalex.org/W1978792005","https://openalex.org/W2057550093","https://openalex.org/W2098613108","https://openalex.org/W2102834897","https://openalex.org/W2119044260","https://openalex.org/W2148344737","https://openalex.org/W2163571347","https://openalex.org/W2604742389","https://openalex.org/W2617564446","https://openalex.org/W2739472079","https://openalex.org/W2745462041","https://openalex.org/W2794746708","https://openalex.org/W2886238227","https://openalex.org/W2901339604","https://openalex.org/W2918374327","https://openalex.org/W3113487340","https://openalex.org/W3120303013","https://openalex.org/W3175678770","https://openalex.org/W6755036839"],"related_works":[],"abstract_inverted_index":{"In-pipe":[0],"robots":[1,31,48],"are":[2,64],"promising":[3,180],"solutions":[4],"for":[5,29,41,84,87,172,182,188],"condition":[6],"assessment,":[7],"leak":[8],"detection,":[9],"water":[10,198],"quality":[11],"monitoring":[12],"in":[13,19,66,197],"a":[14,33,82,99,114,137,154,166,179],"variety":[15],"of":[16,35,109,127,193],"other":[17],"tasks":[18],"pipeline":[20],"networks.":[21],"Smart":[22],"navigation":[23,86,184],"is":[24,51,58,74,105,178],"an":[25],"extremely":[26],"challenging":[27],"task":[28],"these":[30,47],"as":[32],"result":[34],"highly":[36],"uncertain":[37],"and":[38,70,98,117,124,142,152,191],"disturbing":[39],"environment":[40],"operation.":[42],"Wireless":[43],"communication":[44,190],"to":[45],"control":[46],"during":[49],"operation":[50,111],"not":[52],"feasible":[53],"if":[54],"the":[55,61,67,107,110,118,122,128,131,134,150,160,163,173,186],"pipe":[56,68],"material":[57],"metal":[59],"since":[60],"radio":[62],"signals":[63],"destroyed":[65],"environment,":[69],"hence,":[71],"this":[72,78],"challenge":[73],"still":[75],"unsolved.":[76],"In":[77,130,157],"paper,":[79],"we":[80],"introduce":[81],"method":[83,177],"smart":[85,183],"our":[88],"previously":[89],"designed":[90],"in-pipe":[91],"robot":[92,104,135,151,161],"[1]":[93],"based":[94,146],"on":[95],"particle":[96,119],"filtering":[97,120],"two-phase":[100],"motion":[101,167],"controller.":[102],"The":[103,175],"given":[106],"map":[108],"path":[112],"with":[113],"novel":[115],"approach":[116],"determines":[121],"straight":[123,132],"non-straight":[125,158],"configurations":[126],"pipeline.":[129],"paths,":[133,159],"follows":[136,162],"linear":[138],"quadratic":[139],"regulator":[140],"(LQR)":[141],"proportional-":[143],"integral-derivative":[144],"(PID)":[145],"controller":[147],"that":[148,165],"stabilizes":[149],"tracks":[153],"desired":[155],"velocity.":[156],"trajectory":[164,168],"generator":[169],"block":[170],"plans":[171],"robot.":[174],"proposed":[176],"solution":[181],"without":[185],"need":[187],"wireless":[189],"capable":[192],"inspecting":[194],"long":[195],"distances":[196],"distribution":[199],"systems.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2021-03-01T00:00:00"}