{"id":"https://openalex.org/W4390188638","doi":"https://doi.org/10.1109/icdl55364.2023.10364448","title":"Development, Planning and Control of an Autonomous Mobile Manipulator for Power Substation Live-Maintaining","display_name":"Development, Planning and Control of an Autonomous Mobile Manipulator for Power Substation Live-Maintaining","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W4390188638","doi":"https://doi.org/10.1109/icdl55364.2023.10364448"},"language":"en","primary_location":{"id":"doi:10.1109/icdl55364.2023.10364448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl55364.2023.10364448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","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/A5100758452","display_name":"Yuwei Yang","orcid":"https://orcid.org/0000-0002-7742-2864"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuwei Yang","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101513175","display_name":"Shaofeng Li","orcid":"https://orcid.org/0000-0002-7763-8964"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaofeng Li","raw_affiliation_strings":["State Grid Anhui Electric Power Company Suzhou Power Supply Company,Suzhou,China","State Grid Anhui Electric Power Company Suzhou Power Supply Company, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Grid Anhui Electric Power Company Suzhou Power Supply Company,Suzhou,China","institution_ids":[]},{"raw_affiliation_string":"State Grid Anhui Electric Power Company Suzhou Power Supply Company, Suzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101339543","display_name":"Bixiang Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bixiang Guo","raw_affiliation_strings":["State Grid Anhui Electric Power Company Fuyang Power Supply Company,Fuyang,China","State Grid Anhui Electric Power Company Fuyang Power Supply Company, Fuyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Grid Anhui Electric Power Company Fuyang Power Supply Company,Fuyang,China","institution_ids":[]},{"raw_affiliation_string":"State Grid Anhui Electric Power Company Fuyang Power Supply Company, Fuyang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102206988","display_name":"Ling An","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ling An","raw_affiliation_strings":["State Grid Anhui Electric Power Company Fuyang Power Supply Company,Fuyang,China","State Grid Anhui Electric Power Company Fuyang Power Supply Company, Fuyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Grid Anhui Electric Power Company Fuyang Power Supply Company,Fuyang,China","institution_ids":[]},{"raw_affiliation_string":"State Grid Anhui Electric Power Company Fuyang Power Supply Company, Fuyang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060308020","display_name":"Guoxin Li","orcid":"https://orcid.org/0000-0001-8384-0002"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoxin Li","raw_affiliation_strings":["Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230031","Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center,Hefei,China,230031","institution_ids":[]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065954427","display_name":"Ming Pi","orcid":"https://orcid.org/0000-0003-0973-7079"},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Pi","raw_affiliation_strings":["School of Information Engineering, South-west University of Science and Technology,Sichuan,China,621010"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, South-west University of Science and Technology,Sichuan,China,621010","institution_ids":["https://openalex.org/I1297991670"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"500","last_page":"505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9990000128746033,"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/robot","display_name":"Robot","score":0.708171010017395},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.657699704170227},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5785858631134033},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5245121717453003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5081772804260254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49198028445243835},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39183878898620605},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39123648405075073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3444109261035919}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.708171010017395},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.657699704170227},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5785858631134033},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5245121717453003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5081772804260254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49198028445243835},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39183878898620605},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39123648405075073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3444109261035919}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icdl55364.2023.10364448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl55364.2023.10364448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1777480005","https://openalex.org/W1988952449","https://openalex.org/W2005450546","https://openalex.org/W2591194352","https://openalex.org/W2637886368","https://openalex.org/W2786324549","https://openalex.org/W2791994602","https://openalex.org/W3088596192","https://openalex.org/W3091295346","https://openalex.org/W3206096534","https://openalex.org/W3207311111","https://openalex.org/W4226435628","https://openalex.org/W4283032729","https://openalex.org/W4312237703","https://openalex.org/W4385304047"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2001146265"],"abstract_inverted_index":{"In":[0],"recent":[1],"decades,":[2],"there":[3],"has":[4],"been":[5],"a":[6,34,130,139,147,159,178,188],"surge":[7],"in":[8,24,37,75,92,125,142,227],"the":[9,17,110,134,198,201,204,216,225,228],"development":[10],"of":[11,19,49,109,115,122,138,200,224],"diverse":[12],"robotic":[13],"systems":[14],"aimed":[15],"at":[16,43],"maintenance":[18,39,60,63,88,102,205,232],"substation":[20,93,230],"equipment.":[21],"With":[22],"advances":[23],"machinery":[25],"manufacturing,":[26],"artificial":[27],"intelligence":[28],"and":[29,47,56,72,107,118,155,158,168],"computers,":[30],"automatic":[31],"robots":[32,55,64,81,91,103],"have":[33],"promising":[35],"prospect":[36],"autonomous":[38,59,135,175,209],"for":[40,90,133,150,174,182,203],"substation.":[41,145],"But,":[42],"present,":[44],"extensive":[45],"research":[46],"applications":[48],"robotics":[50],"are":[51,172],"focused":[52],"on":[53,58,165],"inspection":[54,80],"less":[57],"robots.":[61],"Autonomous":[62,101],"can":[65],"replace":[66],"manual":[67],"operations":[68],"with":[69,95],"large":[70],"volumes":[71],"high":[73],"risks":[74],"harsh":[76],"environments,":[77],"capabilities":[78],"that":[79],"do":[82],"not":[83],"have.":[84],"However,":[85],"performing":[86],"complex":[87],"tasks":[89],"scenarios":[94],"many":[96],"uncertainties":[97],"is":[98,185,194,212],"quite":[99],"challenging.":[100],"require":[104],"precise":[105],"positioning":[106],"navigation":[108],"target":[111],"position,":[112],"robust":[113],"detection":[114,180],"power":[116,183],"equipment,":[117],"fast":[119],"motion":[120,199],"planning":[121,162],"redundant":[123],"manipulators":[124],"open-type":[126,144],"substations.":[127],"We":[128],"propose":[129],"complete":[131],"solution":[132],"maintaining":[136],"operation":[137],"mobile":[140,210],"manipulator":[141,202,211],"an":[143,208],"First,":[146],"multimodal":[148],"framework":[149],"semantic":[151],"visual":[152],"simultaneous":[153],"localization":[154],"mapping":[156],"(VSLAM)":[157],"global":[160],"path":[161],"method":[163,181],"based":[164],"A-star":[166],"algorithm":[167,171],"time-elastic-band":[169],"(TEB)":[170],"proposed":[173,217],"navigation.":[176],"Second,":[177],"YOLOV8-based":[179],"equipment":[184,231],"described.":[186],"Third,":[187],"linear-variational-inequality-based":[189],"primal-dual":[190],"neural":[191],"network":[192],"(PDNN)":[193],"designed":[195,213],"to":[196,214],"plan":[197],"tasks.":[206,233],"Finally,":[207],"validate":[215],"method.":[218],"The":[219],"experiment":[220],"results":[221],"demonstrate":[222],"effectiveness":[223],"robot":[226],"common":[229]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}