{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T07:03:07Z","timestamp":1773730987013,"version":"3.50.1"},"reference-count":41,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2021,8,28]],"date-time":"2021-08-28T00:00:00Z","timestamp":1630108800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["779776"],"award-info":[{"award-number":["779776"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["871260"],"award-info":[{"award-number":["871260"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014440","name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","doi-asserted-by":"publisher","award":["PGC2018-095709-B-C21"],"award-info":[{"award-number":["PGC2018-095709-B-C21"]}],"id":[{"id":"10.13039\/100014440","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Govern Balear, 50% P.O. FEDER 2014-2020 Illes Balears","award":["PROCOE\/4\/2017"],"award-info":[{"award-number":["PROCOE\/4\/2017"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Because of their high maneuverability and fast deployment times, aerial robots have recently gained popularity for automating inspection tasks. In this paper, we address the visual inspection of vessel cargo holds, aiming at safer, cost-efficient and more intensive visual inspections of ships by means of a multirotor-type platform. To this end, the vehicle is equipped with a sensor suite able to supply the surveyor with imagery from relevant areas, while the control software is supporting the operator during flight with enhanced functionalities and reliable autonomy. All this has been accomplished in the context of the supervised autonomy (SA) paradigm, by means of extensive use of behaviour-based high-level control (including obstacle detection and collision prevention), all specifically devised for visual inspection. The full system has been evaluated both in laboratory and in real environments, on-board two different vessels. Results show the vehicle effective for the referred application, in particular due to the inspection-oriented capabilities it has been fitted with.<\/jats:p>","DOI":"10.3390\/rs13173419","type":"journal-article","created":{"date-parts":[[2021,8,31]],"date-time":"2021-08-31T21:59:45Z","timestamp":1630447185000},"page":"3419","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["MUSSOL: A Micro-Uas to Survey Ship Cargo hOLds"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4215-3764","authenticated-orcid":false,"given":"Francisco","family":"Bonnin-Pascual","sequence":"first","affiliation":[{"name":"Department of Mathematics and Computer Science, University of the Balearic Islands, Cra. de Valldemossa km 7.5, 07122 Palma de Mallorca, Spain"},{"name":"IDISBA (Institut d\u2019Investigacio Sanitaria de les Illes Balears), Cra. de Valldemossa 79, 07120 Palma de Mallorca, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8057-5792","authenticated-orcid":false,"given":"Emilio","family":"Garcia-Fidalgo","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Computer Science, University of the Balearic Islands, Cra. de Valldemossa km 7.5, 07122 Palma de Mallorca, Spain"},{"name":"IDISBA (Institut d\u2019Investigacio Sanitaria de les Illes Balears), Cra. de Valldemossa 79, 07120 Palma de Mallorca, Spain"}]},{"given":"Joan P.","family":"Company-Corcoles","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Computer Science, University of the Balearic Islands, Cra. de Valldemossa km 7.5, 07122 Palma de Mallorca, Spain"},{"name":"IDISBA (Institut d\u2019Investigacio Sanitaria de les Illes Balears), Cra. de Valldemossa 79, 07120 Palma de Mallorca, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8253-7455","authenticated-orcid":false,"given":"Alberto","family":"Ortiz","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Computer Science, University of the Balearic Islands, Cra. de Valldemossa km 7.5, 07122 Palma de Mallorca, Spain"},{"name":"IDISBA (Institut d\u2019Investigacio Sanitaria de les Illes Balears), Cra. de Valldemossa 79, 07120 Palma de Mallorca, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2021,8,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ortiz, A., Bonnin-Pascual, F., Gibbins, A., Apostolopoulou, P., Bateman, W., Eich, M., Spadoni, F., Caccia, M., and Drikos, L. 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