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This paper presents an approach to the estimation of a window shape for increasing the adaptability of glass façade-cleaning robots to different buildings.

South koreaNew yorkUnited statesRepublic of koreaMasami iwaseHiroshi itohTakuma nemotoShohei iizukaShunsuke nansaiResearch institute for scienceTechnology of tokyo denki universityShanghai world financial centerWorld trade centerSpecial issue modelingSensor fusionControl techniques