{"id":"https://openalex.org/W7165391387","doi":"https://doi.org/10.1007/s10514-026-10247-6","title":"STEM: Semantic target search and exploration using MAVs in cluttered environments","display_name":"STEM: Semantic target search and exploration using MAVs in cluttered environments","publication_year":2026,"publication_date":"2026-06-19","ids":{"openalex":"https://openalex.org/W7165391387","doi":"https://doi.org/10.1007/s10514-026-10247-6"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-026-10247-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-026-10247-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-026-10247-6.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/s10514-026-10247-6.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033413584","display_name":"Nikhil Sethi","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Nikhil Sethi","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061731110","display_name":"Max Lodel","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Max Lodel","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138983049","display_name":"Robert Babu\u0161ka","orcid":null},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["CZ","NL"],"is_corresponding":false,"raw_author_name":"Robert Babu\u0161ka","raw_affiliation_strings":["CIIRC, Czech Technical University in Prague, Prague, Czech Republic","Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CIIRC, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5061731110"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":{"value":2590,"currency":"EUR","value_usd":3390},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.89684015,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"50","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7796000242233276,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7796000242233276,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.1096000000834465,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.00839999970048666,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7347000241279602},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.683899998664856},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6636999845504761},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.5674999952316284},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5468999743461609},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5389999747276306},{"id":"https://openalex.org/keywords/semantic-data-model","display_name":"Semantic data model","score":0.3855000138282776},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.3747999966144562},{"id":"https://openalex.org/keywords/semantic-computing","display_name":"Semantic computing","score":0.3603000044822693}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8880000114440918},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7347000241279602},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.683899998664856},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6636999845504761},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.5674999952316284},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5468999743461609},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5389999747276306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5264999866485596},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.3855000138282776},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3727000057697296},{"id":"https://openalex.org/C511149849","wikidata":"https://www.wikidata.org/wiki/Q7449051","display_name":"Semantic computing","level":3,"score":0.3603000044822693},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35440000891685486},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35280001163482666},{"id":"https://openalex.org/C130318100","wikidata":"https://www.wikidata.org/wiki/Q2268914","display_name":"Semantic similarity","level":2,"score":0.3463999927043915},{"id":"https://openalex.org/C166423231","wikidata":"https://www.wikidata.org/wiki/Q1891170","display_name":"Semantic search","level":3,"score":0.3165000081062317},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.29910001158714294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2874000072479248},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.2854999899864197},{"id":"https://openalex.org/C3018653863","wikidata":"https://www.wikidata.org/wiki/Q5281355","display_name":"Disaster response","level":3,"score":0.2822999954223633},{"id":"https://openalex.org/C2778180026","wikidata":"https://www.wikidata.org/wiki/Q18378163","display_name":"Semantic heterogeneity","level":4,"score":0.2662999927997589},{"id":"https://openalex.org/C158495155","wikidata":"https://www.wikidata.org/wiki/Q2369151","display_name":"Visual search","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2581999897956848},{"id":"https://openalex.org/C103692084","wikidata":"https://www.wikidata.org/wiki/Q1765824","display_name":"Semantic grid","level":3,"score":0.25540000200271606},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2538999915122986},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-026-10247-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-026-10247-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-026-10247-6.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"}],"best_oa_location":{"id":"doi:10.1007/s10514-026-10247-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-026-10247-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-026-10247-6.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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7165391387.pdf","grobid_xml":"https://content.openalex.org/works/W7165391387.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W90049316","https://openalex.org/W1966793805","https://openalex.org/W2106378689","https://openalex.org/W2107667896","https://openalex.org/W2162991084","https://openalex.org/W2409009991","https://openalex.org/W2573758756","https://openalex.org/W2769990600","https://openalex.org/W2798365772","https://openalex.org/W2889942734","https://openalex.org/W2956015669","https://openalex.org/W2963150697","https://openalex.org/W2973864946","https://openalex.org/W3004227484","https://openalex.org/W3090360675","https://openalex.org/W3107575247","https://openalex.org/W3125164440","https://openalex.org/W3138508885","https://openalex.org/W4313180266","https://openalex.org/W4315750730","https://openalex.org/W4383108296","https://openalex.org/W4383109315","https://openalex.org/W4384818013","https://openalex.org/W4385416186","https://openalex.org/W4386083015","https://openalex.org/W4392222436","https://openalex.org/W4401417061","https://openalex.org/W4402354128","https://openalex.org/W4405800341"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Autonomous":[1],"target":[2,55,75,176],"search":[3,76],"is":[4,31,119],"crucial":[5],"for":[6,53,132],"deploying":[7],"Micro":[8],"Aerial":[9],"Vehicles":[10],"(MAVs)":[11],"in":[12,26,34,42,80,159],"emergency":[13],"response":[14],"and":[15,77,203],"rescue":[16],"missions.":[17],"Existing":[18],"approaches":[19],"either":[20],"focus":[21],"on":[22,39],"2D":[23],"semantic":[24,50,96,123,134,152,204],"navigation":[25],"structured":[27],"environments":[28,83,163],"\u2013":[29,45],"which":[30,46],"less":[32],"effective":[33],"complex":[35],"3D":[36,82],"settings,":[37],"or":[38],"robotic":[40],"exploration":[41,78,97,180],"cluttered":[43],"spaces":[44],"often":[47],"lacks":[48],"the":[49,106,110,113,166,175,189],"reasoning":[51],"needed":[52],"efficient":[54,95],"search.":[56],"This":[57],"paper":[58],"overcomes":[59],"these":[60],"limitations":[61],"by":[62,99,172],"proposing":[63],"a":[64,69,90],"novel":[65],"framework":[66],"that":[67,93,102,121,165],"utilizes":[68],"semantically-guided":[70],"viewpoint":[71],"planner":[72,92,111],"to":[73,105,155,192],"minimize":[74],"time":[79],"unstructured":[81],"using":[84],"an":[85,115,185],"MAV.":[86],"Specifically,":[87],"we":[88,142],"develop":[89],"combinatorial":[91],"generates":[94],"plans":[98],"prioritizing":[100],"viewpoints":[101],"likely":[103],"lead":[104],"target.":[107],"To":[108],"guide":[109],"towards":[112],"target,":[114],"active":[116],"perception":[117],"pipeline":[118],"developed":[120],"propagates":[122],"priorities":[124],"of":[125,137],"observed":[126],"objects":[127],"into":[128],"neighboring":[129],"frontier":[130,138],"voxels":[131],"computing":[133],"information":[135],"gains":[136],"viewpoints.":[139],"In":[140],"addition,":[141],"demonstrate":[143,188],"how":[144],"LLM-based":[145],"similarity":[146],"scores":[147],"can":[148],"be":[149],"leveraged":[150],"as":[151],"priority":[153],"input":[154],"our":[156],"pipeline.":[157],"Evaluations":[158],"two":[160],"distinct":[161],"simulation":[162],"show":[164],"proposed":[167],"method":[168],"consistently":[169],"outperforms":[170],"baselines":[171],"quickly":[173],"finding":[174],"while":[177],"maintaining":[178],"reasonable":[179],"times.":[181],"Real-world":[182],"experiments":[183],"with":[184],"MAV":[186],"further":[187],"method\u2019s":[190],"ability":[191],"handle":[193],"practical":[194],"constraints":[195],"like":[196],"limited":[197],"battery":[198],"life,":[199],"small":[200],"sensor":[201],"range,":[202],"uncertainty.":[205]},"counts_by_year":[],"updated_date":"2026-06-21T06:12:48.119943","created_date":"2026-06-20T00:00:00"}