{"id":"https://openalex.org/W7131090031","doi":"https://doi.org/10.1109/robio66223.2025.11378121","title":"BIUC-CPP: A Coverage Path Planning Algorithm for Inspection of Wind Turbine Blades Using Quadruped Crawling Robots","display_name":"BIUC-CPP: A Coverage Path Planning Algorithm for Inspection of Wind Turbine Blades Using Quadruped Crawling Robots","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131090031","doi":"https://doi.org/10.1109/robio66223.2025.11378121"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11378121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11378121","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 Robotics and Biomimetics (ROBIO)","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/A5126658727","display_name":"Jintyi Mo","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jintyi Mo","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009255090","display_name":"Yongzhong Bu","orcid":"https://orcid.org/0009-0005-5625-0054"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongzhong Bu","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065859286","display_name":"Hui Li","orcid":"https://orcid.org/0000-0001-9198-3951"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haochen Li","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126632458","display_name":"Rixi Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rixi Yu","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126647075","display_name":"Xuefeng Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefeng Zhou","raw_affiliation_strings":["Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, GDAS,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China,510070"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, GDAS,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China,510070","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076365705","display_name":"Haifei Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":"2332","last_page":"2339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.6225000023841858,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.6225000023841858,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.15530000627040863,"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":0.04659999907016754,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6815000176429749},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6148999929428101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6061999797821045},{"id":"https://openalex.org/keywords/backtracking","display_name":"Backtracking","score":0.43230000138282776},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4311000108718872},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4250999987125397},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.42179998755455017},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.4081000089645386},{"id":"https://openalex.org/keywords/turbine","display_name":"Turbine","score":0.3953999876976013}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6815000176429749},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6148999929428101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6061999797821045},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5195000171661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5123999714851379},{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.43230000138282776},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4311000108718872},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.42179998755455017},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.4081000089645386},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39579999446868896},{"id":"https://openalex.org/C2778449969","wikidata":"https://www.wikidata.org/wiki/Q130760","display_name":"Turbine","level":2,"score":0.3953999876976013},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.37860000133514404},{"id":"https://openalex.org/C20381859","wikidata":"https://www.wikidata.org/wiki/Q829511","display_name":"Turbine blade","level":3,"score":0.36340001225471497},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.34779998660087585},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33169999718666077},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32670000195503235},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.3264000117778778},{"id":"https://openalex.org/C144521790","wikidata":"https://www.wikidata.org/wiki/Q134164","display_name":"Simplex algorithm","level":3,"score":0.31839999556541443},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31279999017715454},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30390000343322754},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25940001010894775},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11378121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11378121","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 Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8445892333984375,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4879956765","display_name":null,"funder_award_id":"2024A1515011871,2022A1515240013,2024B1515250008","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2102274000","https://openalex.org/W2218746506","https://openalex.org/W2514433822","https://openalex.org/W2767834257","https://openalex.org/W3030135178","https://openalex.org/W3048463148","https://openalex.org/W4232813196","https://openalex.org/W4293255258","https://openalex.org/W4293576958","https://openalex.org/W4383093244","https://openalex.org/W4386824934","https://openalex.org/W4387143912","https://openalex.org/W4405891670"],"related_works":[],"abstract_inverted_index":{"In":[0],"response":[1],"to":[2,99],"the":[3,14,37,103,111,128],"bidirectional":[4,54],"path":[5,74,95,143],"weight":[6],"discrepancies":[7],"issue":[8],"caused":[9],"by":[10,97],"gravity-curvature":[11],"coupling":[12],"in":[13,107],"inspection":[15],"of":[16,39,114,122,127],"wind":[17],"turbine":[18],"blades":[19],"using":[20],"quadruped":[21],"robots,":[22],"this":[23],"paper":[24],"proposes":[25],"a":[26,59,72,77],"Bidirectional":[27],"Unequal-Cost":[28],"Complete":[29],"Coverage":[30],"Path":[31],"Planning":[32],"Algorithm":[33],"(BIUC-CPP).":[34],"To":[35],"quantify":[36],"impacts":[38],"curvature":[40],"and":[41,48,81,141],"gravity":[42],"on":[43,58],"footfall":[44],"distribution,":[45],"movement":[46],"stability,":[47],"adherence,":[49],"an":[50,82,139],"equal":[51],"arc-length":[52],"discrete":[53],"discrepancy":[55],"cost":[56,96],"map":[57],"three-dimensional":[60],"blade":[61],"is":[62,69,118],"firstly":[63],"built.":[64],"A":[65],"global":[66],"optimization":[67],"algorithm":[68,92,117],"designed,":[70],"incorporating":[71],"high-cost":[73],"removal":[75],"mechanism,":[76,80],"deadend":[78],"escape":[79],"improved":[83],"Dijkstra":[84],"connection":[85],"method.":[86],"Simulation":[87],"results":[88],"validated":[89],"that":[90,126],"our":[91,115],"reduced":[93],"total":[94],"11.6%":[98],"45.9%":[100],"compared":[101],"with":[102,132],"traditional":[104],"plowing":[105],"method;":[106],"a$4":[108],"\\times":[109],"4$lattice,":[110],"computational":[112],"efficiency":[113],"proposed":[116],"nearly":[119],"five":[120],"orders":[121],"magnitude":[123],"higher":[124],"than":[125],"Depth-First":[129],"Search":[130],"(DFS)":[131],"Backtracking":[133],"Algorithm(Enumeration":[134],"Method).":[135],"The":[136],"BIUC-CPP":[137],"provides":[138],"efficient":[140],"high-quality":[142],"planning":[144],"solution":[145],"for":[146],"robots":[147],"inspecting":[148],"complex":[149],"surfaces.":[150]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-02-24T00:00:00"}
