{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T17:38:01Z","timestamp":1776793081694,"version":"3.51.2"},"reference-count":36,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2018,9,18]],"date-time":"2018-09-18T00:00:00Z","timestamp":1537228800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The normal operation of a power grid largely depends on the effective monitoring and maintenance of transmission lines, which is a process that has many challenges. The traditional method of the manual or remote inspection of transmission lines is time-consuming, laborious, and inefficient. To address this problem, a novel method has been proposed for the Multi-Robot Cyber Physical System (MRCPS) of a power grid based on inspection robots, a wireless sensor network (WSN), and multi-agent theory to achieve a low-cost, efficient, fault-tolerant, and remote monitoring of power grids. For the sake of an effective monitoring system for smart grids, the very research is conducted focusing on designing a methodology that will realize the efficient, fault-tolerant, and financial balance of a multi-robot team for monitoring transmission lines. Multiple testing scenarios are performed, in which various aspects are explored so as to determine the optimal parameters balancing team performance and financial cost. Furthermore, multi-robot team communication and navigation control in smart grid environments are introduced.<\/jats:p>","DOI":"10.3390\/s18093146","type":"journal-article","created":{"date-parts":[[2018,9,18]],"date-time":"2018-09-18T11:52:29Z","timestamp":1537271549000},"page":"3146","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":34,"title":["Multi-Robot Cyber Physical System for Sensing Environmental Variables of Transmission Line"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1196-5847","authenticated-orcid":false,"given":"Fei","family":"Fan","sequence":"first","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7994-0358","authenticated-orcid":false,"given":"Gongping","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2675-8701","authenticated-orcid":false,"given":"Man","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qi","family":"Cao","sequence":"additional","affiliation":[{"name":"State Grid Jilin Electric Power Co., Ltd., Baishan Power Company, Baishan 134300, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Song","family":"Yang","sequence":"additional","affiliation":[{"name":"State Grid Jilin Electric Power Co., Ltd., Baishan Power Company, Baishan 134300, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,9,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1016\/S0378-7796(99)00037-1","article-title":"An overview of the condition monitoring of overhead lines","volume":"53","author":"Aggarwal","year":"2000","journal-title":"Electr. Power Syst. Res."},{"key":"ref_2","first-page":"1","article-title":"Review and latest trends in mobile robots used on power transmission lines","volume":"10","author":"Carvalho","year":"2013","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Pouliot, N., Latulippe, P., and Montambault, S. (2009, January 11\u201315). Reliable and intuitive teleoperation of Linescout: A mobile robot for live transmission line maintenance. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MI, USA.","DOI":"10.1109\/IROS.2009.5354819"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Phillips, A., Engdahl, E., Mcguire, D., Major, M., and Bartlett, G. (2012, January 11\u201313). Autonomous overhead transmission line inspection robot (TI) development and demonstration. Proceedings of the 2nd International Conference on Applied Robotics for the Power Industry, Zurich, Switzerland.","DOI":"10.1109\/CARPI.2012.6473343"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Lorimer, T., and Boje, E. (2012, January 11\u201313). A simple robot manipulator able to negotiate power line hardware. Proceedings of the 2nd International Conference on Applied Robotics for the Power Industry, Zurich, Switzerland.","DOI":"10.1109\/CARPI.2012.6473376"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Jin, J., Zhu, H., and Zhang, G. (2009, January 5\u20137). Counterweight-navigation of a mobile inspection robot working on the ground wires. Proceedings of the IEEE International Conference on Automation and Logistics, Shenyang, China.","DOI":"10.1109\/ICAL.2009.5262914"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1412","DOI":"10.5370\/JEET.2016.11.5.1412","article-title":"A state of the art of power transmission line maintenance robots","volume":"11","author":"Seok","year":"2016","journal-title":"J. Electr. Eng. Technol."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Rowell, T., and Boje, E. (2012, January 11\u201313). Obstacle avoidance for a power line inspection robot. Proceedings of the 2nd International Conference on Applied Robotics for the Power Industry, Zurich, Switzerland.","DOI":"10.1109\/CARPI.2012.6473377"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Toth, J., Pouliot, N., and Montambault, S. (2010, January 5\u20137). Field experiences using LineScout Technology on large BC transmission crossings. Proceedings of the International Conference on Applied Robotics for the Power Industry, Montreal, QC, Canada.","DOI":"10.1109\/CARPI.2010.5624413"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/JPETS.2015.2395388","article-title":"Linescout technology opens the way to robotic inspection and maintenance of high-voltage power lines","volume":"2","author":"Pouliot","year":"2015","journal-title":"IEEE Power Energy Technol. Syst. J."},{"key":"ref_11","first-page":"1","article-title":"The mechanism of a snake-like robot\u2019s clamping obstacle navigation on high voltage transmission lines","volume":"10","author":"Wang","year":"2013","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Jiang, W., Wu, G., Fan, F., Yan, Y., Liu, X., and Li, H. (2018). Structure singular value theory based robust motion control of live maintenance robot with reconfigurable terminal function for high voltage transmission line. Int. J. Adv. Robot. Syst., 15.","DOI":"10.1177\/1729881418762278"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Jiang, W., Wu, G., Wang, W., Zhang, J., Fan, F., and Ye, X. (2016). Robust motion control of live-line maintenance robot mechanical arm for high-voltage transmission line based on h theory. Trans. Inst. Meas. Control, 40.","DOI":"10.1177\/0142331216671174"},{"key":"ref_14","first-page":"3978","article-title":"Expliner\u2014Robot for inspection of transmission lines","volume":"130","author":"Debenest","year":"2008","journal-title":"IEEJ Trans. Power Energy"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1007\/978-3-642-13408-1_5","article-title":"Expliner-Toward a Practical Robot for Inspection of High-Voltage Lines","volume":"Volume 62","author":"Debenest","year":"2010","journal-title":"Field and Service Robotics"},{"key":"ref_16","first-page":"107","article-title":"Autonomous inspection robot for power transmission lines maintenance while operating on the overhead ground wires","volume":"7","author":"Zheng","year":"2011","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Pinto, A.V., Sebrao, M.Z., Lourenco, C.R.S.H., Almeida, I.S.D., Saad, J., and Lourenco, P.M. (2010, January 5\u20137). Remote detection of internal corrosion in conductor cables of power transmission lines. Proceedings of the 1st International Conference on Applied Robotics for the Power Industry, Montreal, QC, Canada.","DOI":"10.1109\/CARPI.2010.5624453"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/MIE.2017.2686458","article-title":"Robotics in power systems: Enabling a more reliable and safe grid","volume":"11","author":"Menendez","year":"2017","journal-title":"IEEE Ind. Electron. Mag."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Yang, G., Li, E., Fan, C., and Lei, W. (2010, January 4\u20137). Modeling and control of a bi-brachiate inspection robot for power transmission lines. Proceedings of the International Conference on Mechatronics and Automation, Xi\u2019an, China.","DOI":"10.1109\/ICMA.2010.5588110"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"376","DOI":"10.1108\/SR-08-2017-0154","article-title":"Overhead ground wire detection by fusion global and local features and supervised learning method for a cable inspection robot","volume":"38","author":"Ye","year":"2018","journal-title":"Sens. Rev."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Song, Y., Lin, W., Yong, J., and Wang, H. (2015, January 6\u201310). A vision-based method for the broken spacer detection. Proceedings of the IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, Shenyang, China.","DOI":"10.1109\/CYBER.2015.7288029"},{"key":"ref_22","first-page":"3978","article-title":"Robot for inspection of transmission lines","volume":"130","author":"Fonseca","year":"2008","journal-title":"IEEJ Trans. Power Energy"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Richard, P.L., Pouliot, N., and Montambault, S. (2014, January 8\u201311). Introduction of a LIDAR-based obstacle detection system on the LineScout power line robot. Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Besancon, France.","DOI":"10.1109\/AIM.2014.6878334"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Qin, X., Wu, G., Lei, J., Fan, F., Ye, X., and Mei, Q. (2018). A novel method of autonomous inspection for transmission line based on cable inspection robot LiDAR data. Sensors, 18.","DOI":"10.3390\/s18020596"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Qin, X., Wu, G., Ye, X., Huang, L., and Lei, J. (2017). A Novel Method to Reconstruct Overhead High-Voltage Power Lines Using Cable Inspection Robot LiDAR Data. Remote Sens., 9.","DOI":"10.3390\/rs9070753"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Qin, X., Wu, G., Lei, J., Fan, F., and Ye, X. (2018). Detection of inspection objects in power line LiDAR data. Sensors, 18.","DOI":"10.3390\/s18041284"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Fan, F., Wu, G., Wang, M., Cao, Q., and Yang, S. (2018). Robot Delay-Tolerant Sensor Network for Overhead Transmission Line Monitoring. Appl. Sci., 8.","DOI":"10.3390\/app8060847"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"637","DOI":"10.1109\/TRO.2006.878948","article-title":"Multi-robot coalition formation","volume":"22","author":"Vig","year":"2006","journal-title":"IEEE Trans. Robot."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1016\/j.artint.2013.12.002","article-title":"Weighted synergy graphs for effective team formation with heterogeneous ad hoc agents","volume":"208","author":"Liemhetcharat","year":"2014","journal-title":"Artif. Intell."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"225","DOI":"10.1007\/s10458-010-9123-8","article-title":"Coalition formation for task allocation: Theory and algorithms","volume":"22","author":"Service","year":"2011","journal-title":"J. Auton. Agents Multi-Agent Syst."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Rauniyar, A., and Muhuri, P.K. (2017, January 5\u20138). Multi-robot coalition formation problem: Task allocation with adaptive immigrants based genetic algorithms. Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Banff, AB, Canada.","DOI":"10.1109\/SMC.2016.7844232"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"3736","DOI":"10.1016\/j.eswa.2013.11.044","article-title":"Non-additive multi-objective robot coalition formation","volume":"41","author":"Agarwal","year":"2014","journal-title":"Expert Syst. Appl."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"7797","DOI":"10.1016\/j.eswa.2015.05.032","article-title":"Parallel multi-objective multi-robot coalition formation","volume":"42","author":"Agarwal","year":"2015","journal-title":"Expert Syst. Appl."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"021010","DOI":"10.1115\/1.4039638","article-title":"Bio-Inspired Coalition Formation Algorithms for Multirobot Systems","volume":"18","author":"Qian","year":"2018","journal-title":"J. Comput. Inf. Sci. Eng."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"865","DOI":"10.1287\/opre.37.6.865","article-title":"Optimization by simulated annealing: An experimental evaluation; part I, graph partitioning","volume":"37","author":"Johnson","year":"1989","journal-title":"Oper. Res."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"268","DOI":"10.1016\/S0377-2217(02)00761-0","article-title":"A new efficient simulated annealing algorithm for the resource-constrained project scheduling problem and its multiple mode version","volume":"149","author":"Bouleimen","year":"2003","journal-title":"Eur. J. Oper. Res."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/9\/3146\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:21:08Z","timestamp":1760196068000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/9\/3146"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,9,18]]},"references-count":36,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2018,9]]}},"alternative-id":["s18093146"],"URL":"https:\/\/doi.org\/10.3390\/s18093146","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,9,18]]}}}