{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T21:13:02Z","timestamp":1773695582322,"version":"3.50.1"},"reference-count":37,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2020,11,9]],"date-time":"2020-11-09T00:00:00Z","timestamp":1604880000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["CNPq-SETEC\/MEC N\u00b0 17\/2014"],"award-info":[{"award-number":["CNPq-SETEC\/MEC N\u00b0 17\/2014"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Realizing autonomous inspection, such as that of power distribution lines, through unmanned aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy and safety of the operation; however, many technical problems, such as those pertaining to the precise positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed strategy, each vehicle provides its position information to the other, which ensures a safe inspection process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating the feasibility of the proposed approach.<\/jats:p>","DOI":"10.3390\/s20216384","type":"journal-article","created":{"date-parts":[[2020,11,10]],"date-time":"2020-11-10T14:10:41Z","timestamp":1605017441000},"page":"6384","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["Cooperative UAV\u2013UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture"],"prefix":"10.3390","volume":"20","author":[{"given":"Alvaro","family":"Cantieri","sequence":"first","affiliation":[{"name":"Applied Robotics and Communication Laboratory\u2014ARCLab\u2014Information and Communication Group, Federal Institute of Paran\u00e1, Curitiba, Paran\u00e1 3100, Brazil"}]},{"given":"Matheus","family":"Ferraz","sequence":"additional","affiliation":[{"name":"Graduate Program in Electrical And Computer Engineering (CPGEI), Universidade Tecnol\u00f3gica Federal do Paran\u00e1, Curitiba, Paran\u00e1 3131, Brazil"}]},{"given":"Guido","family":"Szekir","sequence":"additional","affiliation":[{"name":"Graduate Program in Electrical And Computer Engineering (CPGEI), Universidade Tecnol\u00f3gica Federal do Paran\u00e1, Curitiba, Paran\u00e1 3131, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0372-312X","authenticated-orcid":false,"given":"Marco","family":"Ant\u00f4nio Teixeira","sequence":"additional","affiliation":[{"name":"Graduate Program in Electrical And Computer Engineering (CPGEI), Universidade Tecnol\u00f3gica Federal do Paran\u00e1, Curitiba, Paran\u00e1 3131, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7902-1207","authenticated-orcid":false,"given":"Jos\u00e9","family":"Lima","sequence":"additional","affiliation":[{"name":"CeDRI\u2014Research Centre in Digitalization and Intelligent Robotics, Instituto Polit\u00e9cnico de Bragan\u00e7a and INESC TEC, R. 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