{"id":"https://openalex.org/W4416961914","doi":"https://doi.org/10.1109/ist66504.2025.11268432","title":"Semantics-Aware Path Planning for Mobile Robots in PV Installations","display_name":"Semantics-Aware Path Planning for Mobile Robots in PV Installations","publication_year":2025,"publication_date":"2025-10-15","ids":{"openalex":"https://openalex.org/W4416961914","doi":"https://doi.org/10.1109/ist66504.2025.11268432"},"language":null,"primary_location":{"id":"doi:10.1109/ist66504.2025.11268432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ist66504.2025.11268432","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 Imaging Systems and Techniques (IST)","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/A5033026417","display_name":"Dimitrios Alexiou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Alexiou","raw_affiliation_strings":["Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021207548","display_name":"Kosmas Tsiakas","orcid":"https://orcid.org/0000-0003-2580-4446"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Kosmas Tsiakas","raw_affiliation_strings":["Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084139328","display_name":"\u0391\u03bd\u03c4\u03ce\u03bd\u03b9\u03bf\u03c2 \u0393\u03b1\u03c3\u03c4\u03b5\u03c1\u03ac\u03c4\u03bf\u03c2","orcid":"https://orcid.org/0000-0002-5421-0332"},"institutions":[{"id":"https://openalex.org/I147962203","display_name":"Democritus University of Thrace","ror":"https://ror.org/03bfqnx40","country_code":"GR","type":"education","lineage":["https://openalex.org/I147962203"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Antonios Gasteratos","raw_affiliation_strings":["Democritus University of Thrace,Department of Production and Management Engineering,Xanthi,Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Democritus University of Thrace,Department of Production and Management Engineering,Xanthi,Greece","institution_ids":["https://openalex.org/I147962203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087452615","display_name":"Dimitrios Tzovaras","orcid":"https://orcid.org/0000-0001-6915-6722"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Tzovaras","raw_affiliation_strings":["Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000523843","display_name":"Dimitrios Giakoumis","orcid":"https://orcid.org/0000-0003-1844-186X"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Giakoumis","raw_affiliation_strings":["Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Technologies Institute (CERTH / ITI),Centre for Research and Technology Hellas,Thessaloniki,Greece","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10468","display_name":"Photovoltaic System Optimization Techniques","score":0.2222999930381775,"subfield":{"id":"https://openalex.org/subfields/2105","display_name":"Renewable Energy, Sustainability and the Environment"},"field":{"id":"https://openalex.org/fields/21","display_name":"Energy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10468","display_name":"Photovoltaic System Optimization Techniques","score":0.2222999930381775,"subfield":{"id":"https://openalex.org/subfields/2105","display_name":"Renewable Energy, Sustainability and the Environment"},"field":{"id":"https://openalex.org/fields/21","display_name":"Energy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.16599999368190765,"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/T13715","display_name":"Power Line Inspection Robots","score":0.14319999516010284,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/modular-design","display_name":"Modular design","score":0.666100025177002},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6434000134468079},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6323999762535095},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6223000288009644},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5831000208854675},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4715999960899353},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.4388999938964844},{"id":"https://openalex.org/keywords/photovoltaic-system","display_name":"Photovoltaic system","score":0.3917999863624573}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.666100025177002},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6434000134468079},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6323999762535095},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6223000288009644},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5831000208854675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5467000007629395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5175999999046326},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4729999899864197},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4715999960899353},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.4388999938964844},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40950000286102295},{"id":"https://openalex.org/C41291067","wikidata":"https://www.wikidata.org/wiki/Q1897785","display_name":"Photovoltaic system","level":2,"score":0.3917999863624573},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3756999969482422},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3463999927043915},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3077000081539154},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2921000123023987},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2896000146865845},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.28290000557899475},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C99862985","wikidata":"https://www.wikidata.org/wiki/Q10858068","display_name":"Production line","level":2,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ist66504.2025.11268432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ist66504.2025.11268432","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 Imaging Systems and Techniques (IST)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2117211893","https://openalex.org/W2167340365","https://openalex.org/W2904124603","https://openalex.org/W4224281784","https://openalex.org/W4308534830","https://openalex.org/W4313420583","https://openalex.org/W4315472366","https://openalex.org/W4382050603","https://openalex.org/W4385805172","https://openalex.org/W4387319252","https://openalex.org/W4388017727","https://openalex.org/W4388020469","https://openalex.org/W4389667035","https://openalex.org/W4389667629","https://openalex.org/W4389989186","https://openalex.org/W4391407096","https://openalex.org/W4392337594","https://openalex.org/W4392600015","https://openalex.org/W4401277224","https://openalex.org/W4403977075","https://openalex.org/W4405022833","https://openalex.org/W4405786269","https://openalex.org/W4406001023","https://openalex.org/W4407449782","https://openalex.org/W4408260372"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,106,124,149],"vision-based":[4],"navigation":[5,107],"framework":[6],"for":[7,40,63,153],"autonomous":[8,154],"robots":[9],"operating":[10],"in":[11,77,123,138,159,180],"photovoltaic":[12],"(PV)":[13],"parks.":[14],"The":[15,95,145,188],"proposed":[16,146],"method":[17],"leverages":[18],"synchronized":[19],"RGB":[20,79],"and":[21,54,81,92,134,156,175,182,197,206],"depth":[22,90],"image":[23],"streams":[24],"to":[25,73,104,117,131],"detect":[26],"structural":[27],"elements":[28],"of":[29,46,98,141],"PV":[30,75,118],"panel":[31],"in-stallations-specifically,":[32],"the":[33,64,78,99,111,128,139],"backsheet":[34],"support":[35],"pillars-and":[36],"compute":[37],"3D":[38,51,87],"waypoints":[39],"navigation.":[41],"A":[42,68],"modular":[43],"pipeline":[44],"composed":[45],"three":[47],"sequential":[48],"stages-Pillar":[49],"Detection,":[50],"Line":[52],"Extraction,":[53],"Goal":[55],"Generation-transforms":[56],"raw":[57],"visual":[58],"data":[59,91],"into":[60,86],"actionable":[61],"targets":[62],"robot\u2019s":[65],"control":[66,195],"system.":[67],"YOLOv8m":[69],"detector":[70],"is":[71,102],"fine-tuned":[72],"identify":[74],"pillars":[76,101],"image,":[80],"their":[82],"positions":[83],"are":[84],"projected":[85],"space":[88],"using":[89],"camera":[93],"intrinsics.":[94],"spatial":[96],"configuration":[97],"detected":[100],"used":[103],"generate":[105],"vector,":[108],"which":[109],"guides":[110],"robot":[112],"along":[113],"safe":[114],"paths":[115],"parallel":[116],"rows.":[119],"Extensive":[120],"experiments":[121],"conducted":[122],"Gazebo-simulated":[125],"environment":[126],"demonstrate":[127],"method\u2019s":[129],"ability":[130],"produce":[132],"accurate":[133],"robust":[135],"trajectories,":[136],"even":[137],"presence":[140],"occlusions":[142],"or":[143,185],"obstacles.":[144],"approach":[147],"offers":[148],"scalable,":[150],"perception-driven":[151],"solution":[152],"inspection":[155],"maintenance":[157],"tasks":[158],"structured":[160],"outdoor":[161],"environments":[162],"such":[163],"as":[164],"solar":[165],"farms,":[166],"enabling":[167],"real-time":[168],"adaptability,":[169],"reducing":[170],"reliance":[171],"on":[172],"GPS-based":[173],"systems,":[174],"enhancing":[176],"long-term":[177],"operational":[178],"autonomy":[179],"dynamic":[181],"cluttered":[183],"agricultural":[184],"industrial":[186],"settings.":[187],"system\u2019s":[189],"modularity":[190],"facilitates":[191],"integration":[192],"with":[193],"advanced":[194],"architectures":[196],"supports":[198],"future":[199],"extensions":[200],"incorporating":[201],"semantic":[202],"mapping,":[203],"multi-sensor":[204],"fusion,":[205],"predictive":[207],"motion":[208],"planning":[209],"strategies.":[210]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-12-03T00:00:00"}
