{"id":"https://openalex.org/W2169501349","doi":"https://doi.org/10.1109/irds.2002.1041481","title":"Innovative service robot systems for facade cleaning of difficult-to-access areas","display_name":"Innovative service robot systems for facade cleaning of difficult-to-access areas","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2169501349","doi":"https://doi.org/10.1109/irds.2002.1041481","mag":"2169501349"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5051817928","display_name":"Norbert Elkmann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"N. Elkmann","raw_affiliation_strings":["Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085698854","display_name":"Torsten Felsch","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Felsch","raw_affiliation_strings":["Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029649435","display_name":"M. Sack","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Sack","raw_affiliation_strings":["Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021424355","display_name":"Jos\u00e9 Saenz","orcid":"https://orcid.org/0000-0002-5746-9200"},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Saenz","raw_affiliation_strings":["Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085249871","display_name":"Justus Hortig","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Hortig","raw_affiliation_strings":["Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Systems, Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany","institution_ids":["https://openalex.org/I4210139350"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210139350"],"apc_list":null,"apc_paid":null,"fwci":7.7979,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.98409437,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"756","last_page":"762"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13382","display_name":"Robotics and Automated Systems","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9726999998092651,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9588000178337097,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/facade","display_name":"Facade","score":0.9310238361358643},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8517147302627563},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.541388213634491},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.5255702137947083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43541476130485535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4007869362831116},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.38857001066207886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3558426797389984},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23443010449409485},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.15436306595802307}],"concepts":[{"id":"https://openalex.org/C2780113678","wikidata":"https://www.wikidata.org/wiki/Q183061","display_name":"Facade","level":2,"score":0.9310238361358643},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8517147302627563},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.541388213634491},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.5255702137947083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43541476130485535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4007869362831116},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.38857001066207886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3558426797389984},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23443010449409485},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.15436306595802307},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/irds.2002.1041481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-16695","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-16695.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IFF","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/341144","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/341144","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2533985250","https://openalex.org/W6983477864"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2806819324","https://openalex.org/W3111768077","https://openalex.org/W1978762697","https://openalex.org/W2802644903","https://openalex.org/W2785470113","https://openalex.org/W3045180437","https://openalex.org/W1561695036","https://openalex.org/W2153938963","https://openalex.org/W2288258619"],"abstract_inverted_index":{"The":[0,84,134],"Fraunhofer":[1,82],"Institute":[2],"for":[3,13,24,63,89,117,121],"Factory":[4],"Operation":[5],"and":[6,31,40,44,128],"Automation":[7],"(IFF)":[8],"is":[9],"intensively":[10],"exploring":[11],"possibilities":[12],"robots":[14,39,43,78,143],"to":[15,95],"engage":[16],"in":[17,109,147],"various":[18,49],"service":[19],"tasks,":[20],"especially":[21],"fully-automatic":[22],"systems":[23,51],"facade":[25,37,76,85],"cleaning.":[26],"We":[27],"have":[28],"already":[29],"designed":[30],"built":[32],"a":[33,118],"variety":[34],"of":[35,104,126,137,141],"different":[36,66,75],"cleaning":[38,77,86,122],"concepts.":[41],"These":[42],"concepts":[45],"are":[46,61,131],"based":[47],"on":[48,91],"motion":[50,64],"(i.e.":[52],"walking":[53],"mechanisms,":[54],"wheeled":[55],"vehicles,":[56],"balloon-based":[57,119],"systems,":[58],"etc.)":[59],"that":[60],"specially-suited":[62],"along":[65],"building":[67],"types.":[68],"This":[69],"paper":[70],"gives":[71],"an":[72],"overview":[73],"about":[74],"developed":[79],"by":[80],"the":[81,93,97,105,114,123,138],"IFF":[83],"robot,":[87],"SIRIUSc,":[88],"use":[90],"skyscrapers,":[92],"robot":[94,120],"clean":[96],"25,000":[98],"m/sup":[99],"2/":[100],"vaulted":[101],"glass":[102,129],"hall":[103],"Leipzig":[106],"Trade":[107],"Fair":[108],"Germany,":[110],"as":[111,113],"well":[112],"completed":[115],"concept":[116],"inner":[124],"side":[125],"atriums":[127],"roofs":[130],"discussed":[132],"here.":[133],"unique":[135],"aspects":[136],"main":[139],"components":[140],"these":[142],"will":[144],"be":[145],"addressed":[146],"particular.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}