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Article Source: Energy-efficient path planning for Robotic Bulkhead Inspection using Residual-Enhanced UKF and Hierarchical MPC
Wang J, Li L, Gao R, Yang L (2026) Energy-efficient path planning for Robotic Bulkhead Inspection using Residual-Enhanced UKF and Hierarchical MPC. PLOS ONE 21(3): e0342222. https://doi.org/10.1371/journal.pone.0342222

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