{"id":"https://openalex.org/W4381436259","doi":"https://doi.org/10.1007/s10846-023-01836-z","title":"REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments","display_name":"REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments","publication_year":2023,"publication_date":"2023-06-20","ids":{"openalex":"https://openalex.org/W4381436259","doi":"https://doi.org/10.1007/s10846-023-01836-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-023-01836-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01836-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01836-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent &amp; Robotic Systems","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/s10846-023-01836-z.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101651735","display_name":"Akash Patel","orcid":"https://orcid.org/0000-0002-0020-6020"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Akash Patel","raw_affiliation_strings":["Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-0020-6020","affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108369241","display_name":"Bj\u00f6rn Lindqvist","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bj\u00f6rn Lindqvist","raw_affiliation_strings":["Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2013akbar Agha\u2013mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, 91109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, 91109, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032260126","display_name":"George Nikolakopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, SE-97187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101651735"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.7968,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.73893661,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"108","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9987000226974487,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/task","display_name":"Task (project management)","score":0.7012597322463989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6305742859840393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5288204550743103},{"id":"https://openalex.org/keywords/frontier","display_name":"Frontier","score":0.43945297598838806},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.42638200521469116},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3695814609527588},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36723417043685913},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32396194338798523},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22939729690551758},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10667577385902405}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7012597322463989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6305742859840393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5288204550743103},{"id":"https://openalex.org/C2778571376","wikidata":"https://www.wikidata.org/wiki/Q1355821","display_name":"Frontier","level":2,"score":0.43945297598838806},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.42638200521469116},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3695814609527588},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36723417043685913},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32396194338798523},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22939729690551758},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10667577385902405},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-023-01836-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01836-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01836-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:ltu-96664","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-96664","pdf_url":"https://ltu.diva-portal.org/smash/get/diva2:1751794/FULLTEXT02","source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1007/s10846-023-01836-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01836-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01836-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8570786748","display_name":null,"funder_award_id":"869379","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4381436259.pdf"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W1966213627","https://openalex.org/W1975762674","https://openalex.org/W1996985406","https://openalex.org/W2076518796","https://openalex.org/W2087387266","https://openalex.org/W2107464713","https://openalex.org/W2133844819","https://openalex.org/W2154418813","https://openalex.org/W2244356571","https://openalex.org/W2409009991","https://openalex.org/W2465948386","https://openalex.org/W2608018532","https://openalex.org/W2765727120","https://openalex.org/W2769990600","https://openalex.org/W2771009573","https://openalex.org/W2771218478","https://openalex.org/W2793986133","https://openalex.org/W2903902823","https://openalex.org/W2912372166","https://openalex.org/W2954845987","https://openalex.org/W2963439316","https://openalex.org/W2967828032","https://openalex.org/W3003718768","https://openalex.org/W3004272334","https://openalex.org/W3006305332","https://openalex.org/W3009542919","https://openalex.org/W3033312021","https://openalex.org/W3045462839","https://openalex.org/W3080195572","https://openalex.org/W3089716481","https://openalex.org/W3090360675","https://openalex.org/W3090437565","https://openalex.org/W3092987314","https://openalex.org/W3095927963","https://openalex.org/W3105740176","https://openalex.org/W3125164440","https://openalex.org/W3126614957","https://openalex.org/W3134070994","https://openalex.org/W3149798409","https://openalex.org/W3155850785","https://openalex.org/W3171589869","https://openalex.org/W3190043085","https://openalex.org/W3198239826","https://openalex.org/W3199278058","https://openalex.org/W3209325542","https://openalex.org/W3209659690","https://openalex.org/W3215745779","https://openalex.org/W4285278261","https://openalex.org/W4289828929","https://openalex.org/W4289829118","https://openalex.org/W4289829308","https://openalex.org/W4313119022","https://openalex.org/W6600206166"],"related_works":["https://openalex.org/W2347401120","https://openalex.org/W2117893626","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W2891960103","https://openalex.org/W2920942130","https://openalex.org/W2807943943","https://openalex.org/W2160229054","https://openalex.org/W1518615326","https://openalex.org/W3085982270"],"abstract_inverted_index":{"Abstract":[0],"Exploration":[1],"and":[2,95,110,137,158,166],"mapping":[3,159],"of":[4,41,84,135,140,171],"unknown":[5,35],"environments":[6],"is":[7,44,117,175],"a":[8,21,62,72,185],"fundamental":[9],"task":[10],"in":[11,30,34,61,87,101,108,155,163,177,200],"applications":[12],"for":[13,24,51,190],"autonomous":[14,31,85],"robots.":[15],"In":[16],"this":[17,102,201],"article,":[18],"we":[19],"present":[20],"complete":[22],"framework":[23,70,99,116,151,174,188],"deploying":[25],"Micro":[26],"Aerial":[27],"Vehicles":[28],"(MAVs)":[29],"exploration":[32,42,106,115,136,157],"missions":[33],"subterranean":[36,92,156],"areas.":[37,97],"The":[38,68,98,113,169],"main":[39],"motive":[40],"algorithms":[43],"to":[45,80,121,152],"depict":[46],"the":[47,52,81,105,126,130,133,138,141,149,172,191],"next":[48],"best":[49],"frontier":[50,74],"MAV":[53,127],"such":[54,90],"that":[55,77],"new":[56],"ground":[57],"can":[58,143],"be":[59,144,153,198],"covered":[60],"fast,":[63],"safe":[64,82],"yet":[65],"efficient":[66],"manner.":[67],"proposed":[69,114,150,173],"uses":[71],"novel":[73],"selection":[75],"method":[76],"also":[78,118],"contributes":[79],"navigation":[83],"MAVs":[86],"obstructed":[88],"areas":[89],"as":[91,160,162,195],"caves,":[93],"mines,":[94],"urban":[96],"presented":[100,199],"work":[103],"bifurcates":[104],"problem":[107],"local":[109],"global":[111],"exploration.":[112],"adaptable":[119],"according":[120],"computational":[122],"resources":[123],"available":[124],"onboard":[125],"which":[128],"means":[129],"trade-off":[131],"between":[132],"speed":[134],"quality":[139],"map":[142],"made.":[145],"Such":[146],"capability":[147],"allows":[148],"deployed":[154],"well":[161],"fast":[164],"search":[165],"rescue":[167],"scenarios.":[168],"performance":[170],"evaluated":[176],"detailed":[178],"simulation":[179],"studies":[180],"with":[181],"comparisons":[182],"made":[183],"against":[184],"high-level":[186],"exploration-planning":[187],"developed":[189],"DARPA":[192],"Sub-T":[193],"challenge":[194],"it":[196],"will":[197],"article.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
