{"id":"https://openalex.org/W3004751533","doi":"https://doi.org/10.1007/s10514-020-09903-2","title":"An informative path planning framework for UAV-based terrain monitoring","display_name":"An informative path planning framework for UAV-based terrain monitoring","publication_year":2020,"publication_date":"2020-02-04","ids":{"openalex":"https://openalex.org/W3004751533","doi":"https://doi.org/10.1007/s10514-020-09903-2","mag":"3004751533"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-020-09903-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-020-09903-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-020-09903-2.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-020-09903-2.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072802898","display_name":"Marija Popovi\u0107","orcid":"https://orcid.org/0000-0002-8830-6033"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Marija Popovi\u0107","raw_affiliation_strings":["Smart Robotics Lab., Imperial College London, London, UK"],"raw_orcid":"https://orcid.org/0000-0002-8830-6033","affiliations":[{"raw_affiliation_string":"Smart Robotics Lab., Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086794522","display_name":"Teresa Vidal\u2010Calleja","orcid":"https://orcid.org/0000-0002-5763-9644"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Teresa Vidal-Calleja","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology, Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009209381","display_name":"Gregory Hitz","orcid":"https://orcid.org/0000-0001-6339-3532"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gregory Hitz","raw_affiliation_strings":["Sevensense, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sevensense, Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009492797","display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["Sevensense, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sevensense, Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065532121","display_name":"Inkyu Sa","orcid":"https://orcid.org/0000-0001-5429-0515"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Inkyu Sa","raw_affiliation_strings":["Dynamic Platforms, Robotics and Autonomous Systems Group, Data61, CSIRO, Brisbane, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Platforms, Robotics and Autonomous Systems Group, Data61, CSIRO, Brisbane, Australia","institution_ids":["https://openalex.org/I1292875679","https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Sevensense, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sevensense, Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072802898"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":{"value":2590,"currency":"EUR","value_usd":3390},"fwci":8.4854,"has_fulltext":true,"cited_by_count":167,"citation_normalized_percentile":{"value":0.9849721,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"44","issue":"6","first_page":"889","last_page":"911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8605144023895264},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6472259759902954},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6428098678588867},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6158080697059631},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5761882662773132},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.502094030380249},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.43202945590019226},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43121224641799927},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.422314316034317},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.41826316714286804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37119919061660767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3623795509338379},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35044658184051514}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8605144023895264},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6472259759902954},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6428098678588867},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6158080697059631},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5761882662773132},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.502094030380249},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.43202945590019226},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43121224641799927},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.422314316034317},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.41826316714286804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37119919061660767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3623795509338379},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35044658184051514},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-020-09903-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-020-09903-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-020-09903-2.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/77011","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/77011","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"911","raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1007/s10514-020-09903-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-020-09903-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-020-09903-2.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","score":0.6000000238418579,"display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G1494593301","display_name":null,"funder_award_id":"15.0029","funder_id":"https://openalex.org/F4320335238","funder_display_name":"Staatssekretariat f\u00fcr Bildung, Forschung und Innovation"},{"id":"https://openalex.org/G5929284353","display_name":null,"funder_award_id":"644227","funder_id":"https://openalex.org/F4320335254","funder_display_name":"Horizon 2020"},{"id":"https://openalex.org/G7829537384","display_name":"Aerial Data Collection and Analysis, and Automated Ground Intervention for Precision Farming","funder_award_id":"644227","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335238","display_name":"Staatssekretariat f\u00fcr Bildung, Forschung und Innovation","ror":"https://ror.org/01kw63t33"},{"id":"https://openalex.org/F4320335254","display_name":"Horizon 2020","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3004751533.pdf","grobid_xml":"https://content.openalex.org/works/W3004751533.grobid-xml"},"referenced_works_count":78,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1162739052","https://openalex.org/W1530718350","https://openalex.org/W1542367368","https://openalex.org/W1544032329","https://openalex.org/W1573725801","https://openalex.org/W1701825639","https://openalex.org/W1746819321","https://openalex.org/W1941409503","https://openalex.org/W1966213627","https://openalex.org/W1967077835","https://openalex.org/W1977189000","https://openalex.org/W1998943389","https://openalex.org/W1999050017","https://openalex.org/W2018020586","https://openalex.org/W2019738489","https://openalex.org/W2041684917","https://openalex.org/W2044359184","https://openalex.org/W2051767457","https://openalex.org/W2055758392","https://openalex.org/W2064862914","https://openalex.org/W2072931689","https://openalex.org/W2083327122","https://openalex.org/W2099430963","https://openalex.org/W2104409492","https://openalex.org/W2104578628","https://openalex.org/W2109210542","https://openalex.org/W2113051269","https://openalex.org/W2125069195","https://openalex.org/W2130192595","https://openalex.org/W2131824593","https://openalex.org/W2143088799","https://openalex.org/W2143964548","https://openalex.org/W2151239055","https://openalex.org/W2152394587","https://openalex.org/W2157813244","https://openalex.org/W2161674001","https://openalex.org/W2166566250","https://openalex.org/W2168359464","https://openalex.org/W2170834452","https://openalex.org/W2216550548","https://openalex.org/W2287992105","https://openalex.org/W2346044757","https://openalex.org/W2416626317","https://openalex.org/W2482392012","https://openalex.org/W2516604945","https://openalex.org/W2531223029","https://openalex.org/W2531699011","https://openalex.org/W2552165419","https://openalex.org/W2580767461","https://openalex.org/W2585306788","https://openalex.org/W2594930926","https://openalex.org/W2603794593","https://openalex.org/W2618092744","https://openalex.org/W2620408778","https://openalex.org/W2737130609","https://openalex.org/W2744902601","https://openalex.org/W2755766995","https://openalex.org/W2760340275","https://openalex.org/W2793263498","https://openalex.org/W2796085801","https://openalex.org/W2804147978","https://openalex.org/W2963338060","https://openalex.org/W2963524412","https://openalex.org/W2963881378","https://openalex.org/W3010942064","https://openalex.org/W3098085399","https://openalex.org/W3098800204","https://openalex.org/W3099664902","https://openalex.org/W3099932909","https://openalex.org/W3124229194","https://openalex.org/W4211049957","https://openalex.org/W4236236480","https://openalex.org/W4246614213","https://openalex.org/W6629804754","https://openalex.org/W6631546570","https://openalex.org/W6637653338","https://openalex.org/W6719470462"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2069184433","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W2914059119","https://openalex.org/W4285089922"],"abstract_inverted_index":{"Abstract":[0],"Unmanned":[1],"aerial":[2,53],"vehicles":[3],"represent":[4],"a":[5,9,22,42,69,74,108,131,154,159,164],"new":[6],"frontier":[7],"in":[8,32,58,68,121],"wide":[10],"range":[11],"of":[12,62,80,86,166],"monitoring":[13,49,171],"and":[14,72,82,163],"research":[15],"applications.":[16],"To":[17,35],"fully":[18],"leverage":[19],"their":[20],"potential,":[21],"key":[23],"challenge":[24],"is":[25,65,78,141],"planning":[26,46],"missions":[27],"for":[28,48,168],"efficient":[29,143],"data":[30,102],"acquisition":[31],"complex":[33],"environments.":[34],"address":[36],"this":[37,39],"issue,":[38],"article":[40],"introduces":[41],"general":[43],"informative":[44],"path":[45],"framework":[47],"scenarios":[50],"using":[51,100,158],"an":[52,169],"robot,":[54],"focusing":[55,83],"on":[56,84,97,153],"problems":[57],"which":[59],"the":[60,98,110],"value":[61],"sensor":[63],"information":[64],"unevenly":[66],"distributed":[67],"target":[70],"area":[71],"unknown":[73],"priori.":[75],"The":[76],"approach":[77,140],"capable":[79],"learning":[81],"regions":[85],"interest":[87],"via":[88],"adaptation":[89],"to":[90,117],"map":[91],"either":[92],"discrete":[93],"or":[94],"continuous":[95,122],"variables":[96],"terrain":[99,111],"variable-resolution":[101],"received":[103],"from":[104],"probabilistic":[105],"sensors.":[106],"During":[107],"mission,":[109],"maps":[112],"built":[113],"online":[114],"are":[115],"used":[116],"plan":[118],"information-rich":[119],"trajectories":[120],"3-D":[123],"space":[124],"by":[125,130],"optimizing":[126],"initial":[127],"solutions":[128],"obtained":[129],"coarse":[132],"grid":[133],"search.":[134],"Extensive":[135],"simulations":[136],"show":[137],"that":[138],"our":[139],"more":[142],"than":[144],"existing":[145],"methods.":[146],"We":[147],"also":[148],"demonstrate":[149],"its":[150],"real-time":[151],"application":[152],"photorealistic":[155],"mapping":[156],"scenario":[157],"publicly":[160],"available":[161],"dataset":[162],"proof":[165],"concept":[167],"agricultural":[170],"task.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":36},{"year":2023,"cited_by_count":31},{"year":2022,"cited_by_count":29},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}