# Drain Structural Defect Detection and Mapping Using AI-Enabled Reconfigurable Robot Raptor and IoRT Framework

> Research article (Sensors, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3211190130](https://www.wikidata.org/wiki/openalex:W3211190130)  
**Source**: https://4ort.xyz/entity/drain-structural-defect-detection-and-mapping-using-ai-enabled-reconfigurable-robot-raptor-and-iort-framework