{"id":"https://openalex.org/W2783320076","doi":"https://doi.org/10.1109/etfa.2017.8247654","title":"Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control","display_name":"Documentation of dark areas of large historical buildings by a formation of unmanned aerial vehicles using model predictive control","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2783320076","doi":"https://doi.org/10.1109/etfa.2017.8247654","mag":"2783320076"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2017.8247654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2017.8247654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-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/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague"],"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075195189","display_name":"V\u00edt Kr\u00e1tk\u00fd","orcid":"https://orcid.org/0000-0002-1914-742X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vit Kratky","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague"],"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010834920","display_name":"Vojt\u011bch Spurn\u00fd","orcid":"https://orcid.org/0000-0002-9019-1634"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojtech Spurny","raw_affiliation_strings":["Ceske Vysoke Uceni Technicke v Praze, Praha, CZ"],"affiliations":[{"raw_affiliation_string":"Ceske Vysoke Uceni Technicke v Praze, Praha, CZ","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":null,"display_name":"Tomas Baca","orcid":null},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tomas Baca","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague"],"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5004992661"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":40.996,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.99445763,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"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":0.9936000108718872,"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":0.9936000108718872,"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":0.9925000071525574,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.982200026512146,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.8321596384048462},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.702419638633728},{"id":"https://openalex.org/keywords/documentation","display_name":"Documentation","score":0.6808984875679016},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6752154231071472},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6549040079116821},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.637895405292511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36406344175338745},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3391777276992798},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2199007272720337},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.17722871899604797}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.8321596384048462},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.702419638633728},{"id":"https://openalex.org/C56666940","wikidata":"https://www.wikidata.org/wiki/Q788790","display_name":"Documentation","level":2,"score":0.6808984875679016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6752154231071472},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6549040079116821},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.637895405292511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36406344175338745},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3391777276992798},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2199007272720337},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.17722871899604797},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa.2017.8247654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2017.8247654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W30918869","https://openalex.org/W868727935","https://openalex.org/W1520155833","https://openalex.org/W1834220646","https://openalex.org/W1891394627","https://openalex.org/W1963792193","https://openalex.org/W1970480246","https://openalex.org/W1987206750","https://openalex.org/W2025981716","https://openalex.org/W2043488348","https://openalex.org/W2048013683","https://openalex.org/W2056875415","https://openalex.org/W2057658519","https://openalex.org/W2077248142","https://openalex.org/W2087091770","https://openalex.org/W2091756921","https://openalex.org/W2112501483","https://openalex.org/W2121137058","https://openalex.org/W2200787269","https://openalex.org/W2293216667","https://openalex.org/W2315167567","https://openalex.org/W2342740524","https://openalex.org/W2343678873","https://openalex.org/W2525640293","https://openalex.org/W2526249116","https://openalex.org/W2564944959","https://openalex.org/W4231858761","https://openalex.org/W6704271510"],"related_works":["https://openalex.org/W3018813669","https://openalex.org/W1974195155","https://openalex.org/W2609159405","https://openalex.org/W2057536883","https://openalex.org/W1574248708","https://openalex.org/W2061300913","https://openalex.org/W3196878821","https://openalex.org/W2021850411","https://openalex.org/W4312263439","https://openalex.org/W1999930627"],"abstract_inverted_index":{"A":[0],"system":[1,165],"designed":[2],"for":[3,33,69,80,100,159],"a":[4,31,66,70,82,131,144],"unique":[5],"multi-robot":[6],"application":[7],"of":[8,12,85,91,126,133,138,152,161,208,227],"closely":[9],"flying":[10],"formations":[11],"Unmanned":[13],"Aerial":[14],"Vehicles":[15],"(UAVs)":[16],"in":[17,22,38,121,166,181,193,206],"indoor":[18],"areas":[19,50],"is":[20,28,62,78,141],"described":[21,164],"this":[23],"paper.":[24],"The":[25,163,184],"proposed":[26],"solution":[27],"aimed":[29],"as":[30,43],"tool":[32],"historians":[34],"and":[35,88,102,112,147,176,199],"restorers":[36,198],"working":[37],"large":[39,67],"historical":[40,194],"buildings":[41],"such":[42,228],"churches":[44,93],"to":[45,49,54,64,74,104,196,221,224],"provide":[46,108],"an":[47],"access":[48],"that":[51,115],"are":[52,116],"difficult":[53],"reach":[55],"by":[56,98,118,143,150,179],"humans.":[57],"In":[58,211],"these":[59,212],"objects,":[60],"it":[61],"impossible":[63],"keep":[65],"scaffolding":[68],"long":[71],"time":[72],"due":[73],"regular":[75],"services,":[76],"which":[77,154],"necessary":[79],"studying":[81],"long-term":[83],"influence":[84],"restorations":[86],"works,":[87],"some":[89],"parts":[90,125],"the":[92,109,119,127,139,148,156],"were":[94,215],"even":[95],"not":[96],"reached":[97],"people":[99],"decades":[101],"need":[103],"be":[105,222],"inspected.":[106],"To":[107],"same":[110],"documentation":[111],"inspection":[113],"techniques":[114],"used":[117,205],"experts":[120],"lower":[122],"easily":[123],"accessible":[124],"buildings,":[128],"we":[129],"employ":[130],"formation":[132],"autonomous":[134],"UAVs,":[135],"where":[136],"one":[137],"robots":[140],"equipped":[142],"visual":[145],"sensor":[146],"others":[149],"source":[151],"light,":[153],"provides":[155],"required":[157,178],"flexibility":[158],"control":[160],"lightening.":[162],"its":[167],"full":[168],"complexity":[169],"has":[170,187],"been":[171,188],"implemented":[172],"with":[173,190,201],"achieved":[174,202],"robustness":[175],"reliability":[177],"deployment":[180],"real":[182,191],"missions.":[183],"technology":[185],"demonstration":[186],"provided":[189],"UAVs":[192,214],"objects":[195],"help":[197],"conservationists":[200],"valuable":[203],"results":[204],"plans":[207],"restoration":[209],"works.":[210],"missions,":[213],"autonomously":[216],"hovering":[217],"at":[218],"designated":[219],"locations":[220],"able":[223],"demonstrate":[225],"usefulness":[226],"robotic":[229],"lightening":[230],"approach.":[231]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-25T23:56:10.502304","created_date":"2025-10-10T00:00:00"}
