# Applying Frontier Cells Based Exploration and Lazy Theta* Path Planning over Single Grid-Based World Representation for Autonomous Inspection of Large 3D Structures with an UAS

> Research article (Journal of Intelligent & Robotic Systems, 2018) · cited 38× · AI/ML

**Wikidata**: [openalex:W2793986133](https://www.wikidata.org/wiki/openalex:W2793986133)  
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