{"id":"https://openalex.org/W3131727203","doi":"https://doi.org/10.1109/iros45743.2020.9341089","title":"Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures","display_name":"Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131727203","doi":"https://doi.org/10.1109/iros45743.2020.9341089","mag":"3131727203"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"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"],"is_corresponding":false,"raw_author_name":"Wei Jing","raw_affiliation_strings":["A*STAR Initiative for Artificial Intelligence and Analytics (AI3), Singapore","A*STAR Institute of High Performance Computing (IHPC), Singapore","A*STAR Institute of Information Research (I2R), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"A*STAR Initiative for Artificial Intelligence and Analytics (AI3), Singapore","institution_ids":["https://openalex.org/I115228651"]},{"raw_affiliation_string":"A*STAR Institute of High Performance Computing (IHPC), Singapore","institution_ids":["https://openalex.org/I3004594783","https://openalex.org/I115228651"]},{"raw_affiliation_string":"A*STAR Institute of Information Research (I2R), Singapore","institution_ids":["https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076374249","display_name":"Di Deng","orcid":"https://orcid.org/0000-0001-7805-3012"},"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":"Di Deng","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017822851","display_name":"Yan Wu","orcid":"https://orcid.org/0000-0002-4644-0664"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yan Wu","raw_affiliation_strings":["A*STAR Initiative for Artificial Intelligence and Analytics (AI3), Singapore","A*STAR Institute of Information Research (I2R), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"A*STAR Initiative for Artificial Intelligence and Analytics (AI3), Singapore","institution_ids":["https://openalex.org/I115228651"]},{"raw_affiliation_string":"A*STAR Institute of Information Research (I2R), Singapore","institution_ids":["https://openalex.org/I115228651"]}]},{"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":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9367,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.92785041,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1480","last_page":"1486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9961000084877014,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9785000085830688,"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/heuristics","display_name":"Heuristics","score":0.8583073616027832},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7241737842559814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6809641718864441},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.662997841835022},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.5926746129989624},{"id":"https://openalex.org/keywords/vehicle-routing-problem","display_name":"Vehicle routing problem","score":0.5767843127250671},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5370373725891113},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5193456411361694},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.487842321395874},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44601088762283325},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4388819634914398},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4125269055366516},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33603376150131226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2341967225074768},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.16496142745018005},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14421957731246948},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10503494739532471}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.8583073616027832},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7241737842559814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6809641718864441},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.662997841835022},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.5926746129989624},{"id":"https://openalex.org/C123784306","wikidata":"https://www.wikidata.org/wiki/Q944041","display_name":"Vehicle routing problem","level":3,"score":0.5767843127250671},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5370373725891113},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5193456411361694},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.487842321395874},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44601088762283325},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4388819634914398},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4125269055366516},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33603376150131226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2341967225074768},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.16496142745018005},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14421957731246948},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10503494739532471},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1544032329","https://openalex.org/W1607046631","https://openalex.org/W1968594877","https://openalex.org/W1989823960","https://openalex.org/W2008656089","https://openalex.org/W2019738489","https://openalex.org/W2027263242","https://openalex.org/W2058937865","https://openalex.org/W2078505501","https://openalex.org/W2081716160","https://openalex.org/W2092705708","https://openalex.org/W2106378689","https://openalex.org/W2109042184","https://openalex.org/W2123264737","https://openalex.org/W2128990851","https://openalex.org/W2132022337","https://openalex.org/W2133844819","https://openalex.org/W2153386665","https://openalex.org/W2168079536","https://openalex.org/W2399100674","https://openalex.org/W2558152615","https://openalex.org/W2559613836","https://openalex.org/W2565276930","https://openalex.org/W2584306035","https://openalex.org/W2613333231","https://openalex.org/W2617643478","https://openalex.org/W2736958649","https://openalex.org/W2773385683","https://openalex.org/W2789773866","https://openalex.org/W2906764419","https://openalex.org/W2911411992","https://openalex.org/W2921628264","https://openalex.org/W2944573081","https://openalex.org/W2953928214","https://openalex.org/W2956901944","https://openalex.org/W2963054668","https://openalex.org/W3004187019","https://openalex.org/W3004266520","https://openalex.org/W3004758596","https://openalex.org/W3106241941","https://openalex.org/W4255885994","https://openalex.org/W6676279030","https://openalex.org/W6679191575","https://openalex.org/W6757987519","https://openalex.org/W6760416280"],"related_works":["https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W4252555497","https://openalex.org/W4312143452","https://openalex.org/W2018691209","https://openalex.org/W3121175838","https://openalex.org/W3016293053","https://openalex.org/W3119129187","https://openalex.org/W2470251263","https://openalex.org/W2193306078"],"abstract_inverted_index":{"We":[0,81],"present":[1],"a":[2,32,52,64],"multi-UAV":[3,28],"Coverage":[4],"Path":[5],"Planning":[6],"(CPP)":[7],"framework":[8],"for":[9,86],"the":[10,18,27,92,106,109],"inspection":[11,29,111],"of":[12,108],"large-scale,":[13],"complex":[14,88],"3D":[15,89,93],"structures.":[16],"In":[17],"proposed":[19,84,99],"sampling-based":[20],"coverage":[21,34],"path":[22,35,112],"planning":[23,36],"method,":[24],"we":[25],"formulate":[26],"applications":[30],"as":[31],"multi-agent":[33],"problem.":[37],"By":[38],"combining":[39],"two":[40],"NP-hard":[41],"problems:":[42],"Set":[43],"Covering":[44],"Problem":[45,50,56],"(SCP)":[46],"and":[47,60,77],"Vehicle":[48,54],"Routing":[49,55],"(VRP),":[51],"Set-Covering":[53],"(SC-VRP)":[57],"is":[58],"formulated":[59],"subsequently":[61],"solved":[62],"by":[63,104,113],"modified":[65],"Biased":[66],"Random":[67],"Key":[68],"Genetic":[69],"Algorithm":[70],"(BRKGA)":[71],"with":[72,91],"novel,":[73],"efficient":[74],"encoding":[75],"strategies":[76],"local":[78],"improvement":[79],"heuristics.":[80],"test":[82],"our":[83],"method":[85,100],"several":[87],"structures":[90],"model":[94],"extracted":[95],"from":[96],"OpenStreetMap.":[97],"The":[98],"outperforms":[101],"previous":[102],"methods,":[103],"reducing":[105],"length":[107],"planned":[110],"up":[114],"to":[115],"48%.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}