{"id":"https://openalex.org/W4413918186","doi":"https://doi.org/10.1109/icra55743.2025.11128089","title":"Deep Learning-Enhanced Visual Monitoring in Hazardous Underwater Environments with a Swarm of Micro-Robots","display_name":"Deep Learning-Enhanced Visual Monitoring in Hazardous Underwater Environments with a Swarm of Micro-Robots","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918186","doi":"https://doi.org/10.1109/icra55743.2025.11128089"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.manchester.ac.uk/en/publications/906c6fb8-5939-40a5-93a6-262b08f6ab3e","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100443504","display_name":"Shuang Chen","orcid":"https://orcid.org/0000-0002-6879-7285"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Shuang Chen","raw_affiliation_strings":["Durham University,Department of Computer Science,Durham,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,Durham,UK","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100461963","display_name":"Yifeng He","orcid":"https://orcid.org/0000-0002-1700-3166"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yifeng He","raw_affiliation_strings":["The University of Manchester,Department of Electrical & Electronic Engineering,Manchester,UK"],"affiliations":[{"raw_affiliation_string":"The University of Manchester,Department of Electrical & Electronic Engineering,Manchester,UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011590665","display_name":"Barry Lennox","orcid":"https://orcid.org/0000-0003-0905-8324"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Barry Lennox","raw_affiliation_strings":["The University of Manchester,Department of Electrical & Electronic Engineering,Manchester,UK"],"affiliations":[{"raw_affiliation_string":"The University of Manchester,Department of Electrical & Electronic Engineering,Manchester,UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005614248","display_name":"Farshad Arvin","orcid":"https://orcid.org/0000-0001-7950-3193"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Farshad Arvin","raw_affiliation_strings":["Durham University,Department of Computer Science,Durham,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,Durham,UK","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013030358","display_name":"Amir Atapour\u2013Abarghouei","orcid":"https://orcid.org/0000-0002-4242-4579"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amir Atapour-Abarghouei","raw_affiliation_strings":["Durham University,Department of Computer Science,Durham,UK"],"affiliations":[{"raw_affiliation_string":"Durham University,Department of Computer Science,Durham,UK","institution_ids":["https://openalex.org/I190082696"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100443504"],"corresponding_institution_ids":["https://openalex.org/I190082696"],"apc_list":null,"apc_paid":null,"fwci":0.7742,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75841111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"563","last_page":"569"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12697","display_name":"Water Quality Monitoring Technologies","score":0.885200023651123,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12697","display_name":"Water Quality Monitoring Technologies","score":0.885200023651123,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.8837000131607056,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hazardous-waste","display_name":"Hazardous waste","score":0.6971234083175659},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6448163390159607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6169276833534241},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6128716468811035},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6070477366447449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5039071440696716},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.46754756569862366},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4461471140384674},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3988874554634094},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3301796615123749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24808666110038757},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16091692447662354}],"concepts":[{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.6971234083175659},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6448163390159607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6169276833534241},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6128716468811035},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6070477366447449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5039071440696716},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.46754756569862366},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4461471140384674},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3988874554634094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3301796615123749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24808666110038757},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16091692447662354},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra55743.2025.11128089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire/906c6fb8-5939-40a5-93a6-262b08f6ab3e","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/906c6fb8-5939-40a5-93a6-262b08f6ab3e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chen, S, He, Y, Lennox, B, Arvin, F & Atapour-Abarghouei, A 2025, Deep Learning-Enhanced Visual Monitoring in Hazardous Underwater Environments with a Swarm of Micro-Robots. in IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra55743.2025.11128089","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:durham-repository.worktribe.com:3682342","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/3682342","pdf_url":"https://durham-repository.worktribe.com/file/3682342/1/Accepted%20Conference%20Paper","source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/906c6fb8-5939-40a5-93a6-262b08f6ab3e","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/906c6fb8-5939-40a5-93a6-262b08f6ab3e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chen, S, He, Y, Lennox, B, Arvin, F & Atapour-Abarghouei, A 2025, Deep Learning-Enhanced Visual Monitoring in Hazardous Underwater Environments with a Swarm of Micro-Robots. in IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra55743.2025.11128089","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G261504487","display_name":"Robotics and Artificial Intelligence for Nuclear Plus (RAIN+)","funder_award_id":"EP/W001128/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2898516364","display_name":null,"funder_award_id":"EP/R026084","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6465377262","display_name":"Robotics and Artificial Intelligence for Nuclear (RAIN)","funder_award_id":"EP/R026084/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1970942930","https://openalex.org/W2031489346","https://openalex.org/W2070265049","https://openalex.org/W2100831346","https://openalex.org/W2145339207","https://openalex.org/W2153054365","https://openalex.org/W2170169747","https://openalex.org/W2321533354","https://openalex.org/W2329767976","https://openalex.org/W2531409750","https://openalex.org/W2551920463","https://openalex.org/W2883481555","https://openalex.org/W2920119658","https://openalex.org/W2940790935","https://openalex.org/W2946934882","https://openalex.org/W2947413375","https://openalex.org/W2950457763","https://openalex.org/W2958360136","https://openalex.org/W2964060161","https://openalex.org/W2972482447","https://openalex.org/W3013162584","https://openalex.org/W3014528623","https://openalex.org/W3080427797","https://openalex.org/W3111019671","https://openalex.org/W3211295153","https://openalex.org/W4200132640","https://openalex.org/W4246671482","https://openalex.org/W4292198371","https://openalex.org/W4312245518","https://openalex.org/W4382450481","https://openalex.org/W4390698226","https://openalex.org/W4401692434"],"related_works":["https://openalex.org/W1503780849","https://openalex.org/W164591511","https://openalex.org/W2968920050","https://openalex.org/W1540139279","https://openalex.org/W1567845959","https://openalex.org/W2102301225","https://openalex.org/W2386594175","https://openalex.org/W188937797","https://openalex.org/W4254120733","https://openalex.org/W622357916"],"abstract_inverted_index":{"Long-term":[0],"monitoring":[1,164],"and":[2,15,68,81,87,110,139,155,165,182],"exploration":[3],"of":[4,45,94,147,158],"extreme":[5,174],"environments,":[6],"such":[7],"as":[8],"underwater":[9,129,160],"storage":[10],"facilities,":[11],"is":[12],"costly,":[13],"labor-intensive,":[14],"hazardous.":[16],"Automating":[17],"this":[18,49],"process":[19],"with":[20],"low-cost,":[21],"collaborative":[22],"robots":[23,29],"can":[24],"greatly":[25],"improve":[26],"efficiency.":[27],"These":[28],"capture":[30],"images":[31,152],"from":[32,103,108],"different":[33],"positions,":[34],"which":[35],"must":[36],"be":[37],"processed":[38],"simultaneously":[39],"to":[40,71,178],"create":[41],"a":[42,53,60],"spatio-temporal":[43],"model":[44],"the":[46,73,84,92,144,159,168],"facility.":[47],"In":[48],"paper,":[50],"we":[51],"propose":[52],"novel":[54],"approach":[55,90],"that":[56,123],"integrates":[57],"data":[58,122],"simulation,":[59],"multi-modal":[61],"deep":[62],"learning":[63],"network":[64],"for":[65,162,170],"coordinate":[66,136],"prediction,":[67],"image":[69,141],"reassembly":[70],"address":[72],"challenges":[74],"posed":[75],"by":[76,99],"environmental":[77],"disturbances":[78],"causing":[79],"drift":[80],"rotation":[82],"in":[83,96,128,173,185],"robots'":[85],"positions":[86],"orientations.":[88],"Our":[89],"enhances":[91],"precision":[93],"alignment":[95],"noisy":[97,111],"environments":[98],"integrating":[100],"visual":[101],"information":[102],"snapshots,":[104],"global":[105],"positional":[106],"context":[107],"masks,":[109],"coordinates.":[112],"We":[113],"validate":[114],"our":[115,148],"method":[116],"through":[117],"extensive":[118],"experiments":[119],"using":[120],"synthetic":[121],"simulate":[124],"real-world":[125,145],"robotic":[126],"operations":[127],"settings.":[130],"The":[131,150],"results":[132],"demonstrate":[133],"very":[134],"high":[135],"prediction":[137],"accuracy":[138],"plausible":[140],"assembly,":[142],"indicating":[143],"applicability":[146],"approach.":[149],"assembled":[151],"provide":[153],"clear":[154],"coherent":[156],"views":[157],"environment":[161],"effective":[163],"inspection,":[166],"showcasing":[167],"potential":[169],"broader":[171],"use":[172],"settings,":[175],"further":[176],"contributing":[177],"improved":[179],"safety,":[180],"efficiency,":[181],"cost":[183],"reduction":[184],"hazardous":[186],"field":[187],"monitoring.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}