{"id":"https://openalex.org/W2143907646","doi":"https://doi.org/10.1109/iros.2009.5353885","title":"Mobile robots for offshore inspection and manipulation","display_name":"Mobile robots for offshore inspection and manipulation","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2143907646","doi":"https://doi.org/10.1109/iros.2009.5353885","mag":"2143907646"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5353885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5051189000","display_name":"Matthias Bengel","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Matthias Bengel","raw_affiliation_strings":["Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020879376","display_name":"Kai Pfeiffer","orcid":"https://orcid.org/0000-0002-4810-2802"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai Pfeiffer","raw_affiliation_strings":["Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110031377","display_name":"Birgit Graf","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Birgit Graf","raw_affiliation_strings":["Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020220419","display_name":"Alexander Bubeck","orcid":"https://orcid.org/0000-0001-6184-4520"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Bubeck","raw_affiliation_strings":["Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048205111","display_name":"Alexander Verl","orcid":"https://orcid.org/0000-0002-2548-6620"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Verl","raw_affiliation_strings":["Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer IPA, Nobelstrasse 12, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051189000"],"corresponding_institution_ids":["https://openalex.org/I3018473509"],"apc_list":null,"apc_paid":null,"fwci":4.2522,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.93611824,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3317","last_page":"3322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.995199978351593,"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":0.995199978351593,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.994700014591217,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9926999807357788,"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/mobile-robot","display_name":"Mobile robot","score":0.7107734084129333},{"id":"https://openalex.org/keywords/visual-inspection","display_name":"Visual inspection","score":0.6740584373474121},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6087737083435059},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5216736793518066},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5209901928901672},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4706037938594818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4454025626182556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38442909717559814},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3612443804740906},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.354472815990448},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3244529962539673},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09387409687042236}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7107734084129333},{"id":"https://openalex.org/C168820333","wikidata":"https://www.wikidata.org/wiki/Q448889","display_name":"Visual inspection","level":2,"score":0.6740584373474121},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6087737083435059},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5216736793518066},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5209901928901672},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4706037938594818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4454025626182556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38442909717559814},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3612443804740906},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.354472815990448},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3244529962539673},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09387409687042236}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5353885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-112704","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-112704.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 IPA","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/363307","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/363307","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1586173270","https://openalex.org/W1993925701","https://openalex.org/W2022045895","https://openalex.org/W2152536965","https://openalex.org/W2498582303","https://openalex.org/W3142645290","https://openalex.org/W6634982934"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2781569684","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1],"analyzes":[2],"the":[3,59,128,151,155,165,180,206,212,215,218,231,245,248,257,264,277],"potential":[4],"to":[5,55,143,185,202,238],"apply":[6],"mobile":[7,28,42,81,168,183,224,269,281],"service":[8,43],"robots":[9,44],"in":[10,36,45,154,175,226,284],"offshore":[11,29,47,82,176,186,227,285],"oil":[12],"and":[13,20,23,31,72,109,118,146,194,203,252,255,271],"gas":[14,108,197],"producing":[15],"environments.":[16,187,286],"The":[17,76,135,162,221,260],"required":[18,237],"hardware":[19],"software":[21],"components":[22],"abilities":[24],"of":[25,41,79,115,121,137,164,182,190,214,223,233,247,263,267],"such":[26,104],"a":[27,80,88,93,106,144,240,268],"inspection":[30,53,83,97,120,133,139,191,270],"manipulation":[32,272],"robot":[33,84,129,169,207,273,282],"are":[34,141],"presented":[35],"this":[37],"paper.":[38],"Possible":[39],"applications":[40],"an":[46],"environment":[48],"range":[49],"from":[50],"simple":[51],"visual":[52,96],"tasks":[54,140,192],"physical":[56],"intervention":[57,236],"with":[58,87],"process":[60,123],"equipment,":[61],"e.g.":[62],"for":[63,95,279],"sample":[64],"taking,":[65],"valve":[66],"turning,":[67],"cleaning":[68],"up":[69],"minor":[70],"obstructions,":[71],"operating":[73],"control":[74,157],"panels.":[75],"first":[77,166,265],"prototype":[78],"is":[85,113],"equipped":[86],"robotic":[89],"arm":[90],"which":[91],"carries":[92],"camera":[94],"as":[98,100,105],"well":[99],"various":[101],"application":[102,222],"sensors":[103],"microphone,":[107],"fire":[110],"sensors.":[111],"It":[112],"able":[114],"both,":[116],"remote":[117],"autonomous":[119,167],"industrial":[122],"equipment.":[124],"In":[125],"automatic":[126],"mode":[127],"autonomously":[130],"executes":[131],"pre-programmed":[132],"tasks.":[134],"results":[136],"all":[138],"saved":[142],"database":[145],"can":[147,229],"be":[148],"reviewed":[149],"by":[150,205],"responsible":[152],"operator":[153],"central":[156],"room":[158],"at":[159],"any":[160],"time.":[161],"evaluation":[163,262],"that":[170],"has":[171,178,274],"ever":[172,210],"been":[173,200],"operated":[174],"environments":[177,228],"proven":[179],"applicability":[181],"robotics":[184,225],"Different":[188],"types":[189],"(visual":[193],"acoustic":[195],"inspection,":[196],"measuring)":[198],"have":[199],"programmed":[201],"executed":[204],"successfully":[208],"without":[209],"jeopardizing":[211],"safety":[213,251],"platform":[216,219],"or":[217],"personnel.":[220],"reduce":[230],"level":[232],"manual":[234],"human":[235],"operate":[239],"production":[241,258],"facility":[242],"thereby":[243],"increasing":[244],"efficiency":[246],"workforce,":[249],"improving":[250,256],"working":[253],"conditions,":[254],"economics.":[259],"successful":[261],"realization":[266],"thus":[275],"leveled":[276],"ground":[278],"future":[280],"installations":[283]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}