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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Rong-Shen Yin

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Preprint Aug 2026

Observation-Constrained Joint-Space Viewpoint Optimization for Robotic Inspection of Cylindrical Cavities

Inspection is a core capability in many mobile robotics applications, including industrial facility monitoring, infrastructure maintenance, agriculture, and search and rescue. Observing the bottom of a cylindrical cavity, as required by ASTM search-task benchmarks for response robots, presents a representative challeng...

Yue-Zhong Wang, Rong-Shen Yin, Bichi Zhang et al. · 0 citations

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