{"id":"https://openalex.org/W2773385683","doi":"https://doi.org/10.1109/iros.2017.8206411","title":"Sampling-based coverage motion planning for industrial inspection application with redundant robotic system","display_name":"Sampling-based coverage motion planning for industrial inspection application with redundant robotic system","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773385683","doi":"https://doi.org/10.1109/iros.2017.8206411","mag":"2773385683"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5103244741","display_name":"Wei Jing","orcid":"https://orcid.org/0000-0003-3286-5925"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I3004594783","display_name":"Institute of High Performance Computing","ror":"https://ror.org/02n0ejh50","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3004594783","https://openalex.org/I91275662"]}],"countries":["SG","US"],"is_corresponding":true,"raw_author_name":"Wei Jing","raw_affiliation_strings":["Department of Computing Science, Institute of High Performance Computing, Singapore","Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computing Science, Institute of High Performance Computing, Singapore","institution_ids":["https://openalex.org/I3004594783"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021764067","display_name":"Joseph Polden","orcid":"https://orcid.org/0000-0002-8562-524X"},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Joseph Polden","raw_affiliation_strings":["Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore"],"affiliations":[{"raw_affiliation_string":"Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037330231","display_name":"Chun Fan Goh","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chun Fan Goh","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088347880","display_name":"Mabaran Rajaraman","orcid":"https://orcid.org/0000-0001-9891-8247"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mabaran Rajaraman","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100636013","display_name":"Wei Lin","orcid":"https://orcid.org/0000-0002-3869-6651"},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Lin","raw_affiliation_strings":["Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore"],"affiliations":[{"raw_affiliation_string":"Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Shimada","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5103244741"],"corresponding_institution_ids":["https://openalex.org/I3004594783","https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.7282,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.81159897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5211","last_page":"5218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.670059084892273},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6497702598571777},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6483941674232483},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.6387208104133606},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5228036642074585},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.5216977000236511},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5177992582321167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48362627625465393},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46874716877937317},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4394872784614563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4167238473892212},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4160740375518799},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33983874320983887},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2786988615989685},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2433854341506958},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16177180409431458},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1516900360584259}],"concepts":[{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.670059084892273},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6497702598571777},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6483941674232483},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.6387208104133606},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5228036642074585},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.5216977000236511},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5177992582321167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48362627625465393},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46874716877937317},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4394872784614563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4167238473892212},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4160740375518799},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33983874320983887},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2786988615989685},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2433854341506958},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16177180409431458},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1516900360584259},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W19308768","https://openalex.org/W1502085540","https://openalex.org/W1968594877","https://openalex.org/W1969303624","https://openalex.org/W2003015349","https://openalex.org/W2004139909","https://openalex.org/W2008056024","https://openalex.org/W2008656089","https://openalex.org/W2013457645","https://openalex.org/W2044533144","https://openalex.org/W2058462149","https://openalex.org/W2072573184","https://openalex.org/W2078505501","https://openalex.org/W2081716160","https://openalex.org/W2092705708","https://openalex.org/W2110762409","https://openalex.org/W2123264737","https://openalex.org/W2128661645","https://openalex.org/W2141664020","https://openalex.org/W2157439141","https://openalex.org/W2157638946","https://openalex.org/W2168079536","https://openalex.org/W2170141090","https://openalex.org/W2399100674","https://openalex.org/W2565276930","https://openalex.org/W2584306035","https://openalex.org/W2584459811","https://openalex.org/W2783752951","https://openalex.org/W2901136733","https://openalex.org/W6748266644","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2385368906","https://openalex.org/W2626642044","https://openalex.org/W2902924992","https://openalex.org/W2388758053","https://openalex.org/W93537448","https://openalex.org/W2619807045","https://openalex.org/W2949734191","https://openalex.org/W2017333877","https://openalex.org/W4233821346","https://openalex.org/W2153702122"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,21,29,33,60,94,114],"novel":[4],"sampling-based":[5],"motion":[6,132],"planning":[7,133],"method":[8,129,141],"for":[9,38],"shape":[10],"inspection":[11,41,57,153],"applications":[12],"with":[13],"redundant":[15,24],"robotic":[16,25],"system.":[17],"In":[18],"this":[19],"paper,":[20],"7-Degree-of-Freedom":[22],"(DOF)":[23],"system":[26],"consisting":[27],"of":[28,122],"6-DOF":[30],"manipulator":[31],"and":[32,59,74,90],"1-DOF":[34],"turntable":[35],"is":[36,48,66,104],"used":[37,106],"the":[39,56,71,75,82,88,109,120,127,139,143],"industrial":[40],"problem.":[42,98],"A":[43,99],"Set":[44],"Covering":[45],"Problem":[46,64],"(SCP)":[47],"formulated":[49,67],"to":[50,68,107,130,149],"select":[51],"suitable":[52],"viewpoints":[53],"that":[54,138],"satisfy":[55],"requirements,":[58],"Generalized":[61],"Travelling":[62],"Salesman":[63],"(GTSP)":[65],"determine":[69],"both":[70],"robot":[72],"poses":[73],"visiting":[76],"sequences.":[77],"While":[78],"previous":[79,144],"studies":[80],"solve":[81,108],"two":[83],"problems":[84,92],"separately,":[85],"we":[86,125],"formulate":[87],"SCP":[89],"GTSP":[91],"as":[93],"combined":[95,110],"sequencing":[96],"SC-GTSP":[97,111],"Random-Key":[100],"Genetic":[101],"Algorithm":[102],"(RKGA)":[103],"then":[105],"problem":[112],"in":[113],"one-step":[115],"optimization":[116],"process.":[117],"To":[118],"validate":[119],"effectiveness":[121],"our":[123],"method,":[124],"applied":[126],"proposed":[128,140],"several":[131],"cases.":[134],"The":[135],"results":[136],"show":[137],"outperforms":[142],"approaches":[145],"by":[146],"requiring":[147],"up":[148],"28.1%":[150],"less":[151],"total":[152],"time.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}