{"id":"https://openalex.org/W2122400691","doi":"https://doi.org/10.1109/robot.2004.1308781","title":"Software approach for the autonomous inspection robot MAKRO","display_name":"Software approach for the autonomous inspection robot MAKRO","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2122400691","doi":"https://doi.org/10.1109/robot.2004.1308781","mag":"2122400691"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5032672766","display_name":"Hermann Streich","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144576","display_name":"Fraunhofer Institute for Intelligent Analysis and Information Systems","ror":"https://ror.org/04nc32781","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210144576","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4923324","display_name":"Fraunhofer-Gesellschaft","ror":"https://ror.org/05hkkdn48","country_code":"DE","type":"government","lineage":["https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Streich","raw_affiliation_strings":["Fraunhofer Institute for Autonomous Intelligent System, Sankt Augustin, Germany","Fraunhofer Inst. for Autonomous Intelligent Syst., St. Augustin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Autonomous Intelligent System, Sankt Augustin, Germany","institution_ids":["https://openalex.org/I4210144576"]},{"raw_affiliation_string":"Fraunhofer Inst. for Autonomous Intelligent Syst., St. Augustin, Germany","institution_ids":["https://openalex.org/I4923324"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082080518","display_name":"Oliver Adria","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144576","display_name":"Fraunhofer Institute for Intelligent Analysis and Information Systems","ror":"https://ror.org/04nc32781","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210144576","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4923324","display_name":"Fraunhofer-Gesellschaft","ror":"https://ror.org/05hkkdn48","country_code":"DE","type":"government","lineage":["https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"O. Adria","raw_affiliation_strings":["Fraunhofer Institute for Autonomous Intelligent System, Sankt Augustin, Germany","Fraunhofer Inst. for Autonomous Intelligent Syst., St. Augustin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Autonomous Intelligent System, Sankt Augustin, Germany","institution_ids":["https://openalex.org/I4210144576"]},{"raw_affiliation_string":"Fraunhofer Inst. for Autonomous Intelligent Syst., St. Augustin, Germany","institution_ids":["https://openalex.org/I4923324"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1891,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.77411544,"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":"3411","last_page":"3416 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9959999918937683,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9959999918937683,"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/robot","display_name":"Robot","score":0.7502644658088684},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.685494601726532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6596738696098328},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6177941560745239},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5827359557151794},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5807166695594788},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.46046823263168335},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42666637897491455},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3100154995918274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19120153784751892},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.18906128406524658},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07378646731376648}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7502644658088684},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.685494601726532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6596738696098328},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6177941560745239},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5827359557151794},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5807166695594788},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.46046823263168335},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42666637897491455},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3100154995918274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19120153784751892},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.18906128406524658},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07378646731376648},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2004.1308781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-28062","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-28062.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 AIS","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/346347","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/346347","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":[{"display_name":"Clean water and sanitation","id":"https://metadata.un.org/sdg/6","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1545688112","https://openalex.org/W1595470521","https://openalex.org/W1616335618","https://openalex.org/W1989329448","https://openalex.org/W2535428414","https://openalex.org/W4233713099","https://openalex.org/W6635611660","https://openalex.org/W6647462312","https://openalex.org/W7033410888"],"related_works":["https://openalex.org/W2045155990","https://openalex.org/W4313163053","https://openalex.org/W4300973204","https://openalex.org/W3045811229","https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W1483408780","https://openalex.org/W4284884309","https://openalex.org/W2908749798","https://openalex.org/W3210795196"],"abstract_inverted_index":{"The":[0,25],"sewer":[1,32,63,83,108],"inspection":[2,88],"robot":[3,9,26,78],"MAKRO":[4],"is":[5,17,37,70,158,183],"an":[6],"autonomous":[7],"multi-segment":[8],"with":[10],"worm-like":[11],"shape":[12],"driven":[13],"by":[14],"wheels.":[15],"It":[16],"currently":[18],"under":[19],"development":[20],"in":[21,81,100,105],"the":[22,67,71,77,82,87,117,122,140,150,161,187],"project":[23],"MAKRO-PLUS.":[24],"has":[27,127,167],"to":[28,38,52,58,79],"navigate":[29,80],"autonomously":[30],"within":[31],"systems.":[33,64],"Its":[34],"first":[35],"tasks":[36,89],"take":[39],"water":[40],"probes,":[41],"analyze":[42],"them":[43],"onboard,":[44],"and":[45,50,57,85,104],"measure":[46],"positions":[47],"of":[48,62,66,95,136],"manholes":[49],"pipes":[51],"detect":[53],"pollution":[54],"loaded":[55],"sewage":[56],"improve":[59],"current":[60],"maps":[61],"One":[65],"challenging":[68],"problems":[69],"control":[72],"software,":[73],"which":[74,182],"should":[75],"enable":[76],"system":[84,109],"perform":[86],"autonomously,":[90],"while":[91],"always":[92],"taking":[93],"care":[94],"its":[96],"own":[97],"safety.":[98],"Tests":[99],"our":[101],"test":[102],"environment":[103],"a":[106,124,133,154,176],"real":[107],"show":[110],"promising":[111],"results.":[112],"This":[113],"paper":[114],"focuses":[115],"on":[116,186],"software":[118,189],"approach.":[119],"To":[120],"manage":[121],"complexity":[123],"layered":[125],"architecture":[126],"been":[128,168],"chosen,":[129],"each":[130],"layer":[131],"defining":[132],"different":[134,145],"level":[135,153],"abstraction.":[137],"After":[138],"determining":[139],"abstraction":[141,152],"levels,":[142],"we":[143,174],"use":[144,175],"methods":[146],"for":[147],"implementation.":[148],"For":[149,160,170],"highest":[151],"standard":[155],"AI-planning":[156],"algorithm":[157],"used.":[159],"next":[162],"level,":[163],"finite":[164],"state":[165],"automata":[166],"chosen.":[169],"\"simple\"":[171],"task":[172],"implementation":[173],"modular":[177],"C++":[178],"based":[179],"method":[180],"(MCA2),":[181],"also":[184],"used":[185],"lowest":[188],"level.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
