{"id":"https://openalex.org/W7134060987","doi":"https://doi.org/10.1007/s10846-026-02375-z","title":"An Autonomous UAV System for Precision Spraying of Seedling Pines to Prevent Moose Damage","display_name":"An Autonomous UAV System for Precision Spraying of Seedling Pines to Prevent Moose Damage","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134060987","doi":"https://doi.org/10.1007/s10846-026-02375-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-026-02375-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02375-z","pdf_url":null,"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 & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-026-02375-z","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049713745","display_name":"Issouf Ouattara","orcid":"https://orcid.org/0000-0002-1589-8541"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Issouf Ouattara","raw_affiliation_strings":["Department of Electrical Engineering and Automation, Aalto University, Maarintie 8, Espoo, 02150, Finland"],"raw_orcid":"https://orcid.org/0000-0002-1589-8541","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Automation, Aalto University, Maarintie 8, Espoo, 02150, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072267492","display_name":"Arto Visala","orcid":"https://orcid.org/0000-0001-6253-8357"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Arto Visala","raw_affiliation_strings":["Department of Electrical Engineering and Automation, Aalto University, Maarintie 8, Espoo, 02150, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Automation, Aalto University, Maarintie 8, Espoo, 02150, Finland","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5049713745"],"corresponding_institution_ids":["https://openalex.org/I9927081"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19438082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"112","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12161","display_name":"Plant Surface Properties and Treatments","score":0.6845999956130981,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12161","display_name":"Plant Surface Properties and Treatments","score":0.6845999956130981,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.07670000195503235,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.022299999371170998,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6521999835968018},{"id":"https://openalex.org/keywords/seedling","display_name":"Seedling","score":0.4756999909877777},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4390999972820282},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4050999879837036},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.39649999141693115},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.3808000087738037},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.32910001277923584}],"concepts":[{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6521999835968018},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5645999908447266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5037000179290771},{"id":"https://openalex.org/C2776096895","wikidata":"https://www.wikidata.org/wiki/Q1385709","display_name":"Seedling","level":2,"score":0.4756999909877777},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.4528000056743622},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4390999972820282},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4219000041484833},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4050999879837036},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.39649999141693115},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3808000087738037},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.3154999911785126},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27399998903274536},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C107284991","wikidata":"https://www.wikidata.org/wiki/Q79757","display_name":"Barometer","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-026-02375-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02375-z","pdf_url":null,"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 & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/143933","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/d146292b-d536-466b-93dc-9c61a8ed10d4","pdf_url":null,"source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10846-026-02375-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02375-z","pdf_url":null,"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 & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life in Land","score":0.6194108724594116,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322282","display_name":"Jane ja Aatos Erkon S\u00e4\u00e4ti\u00f6","ror":"https://ror.org/03vxy9y38"},{"id":"https://openalex.org/F4320323664","display_name":"Teknologiateollisuuden 100-Vuotisjuhlas\u00e4\u00e4ti\u00f6","ror":"https://ror.org/01654ws56"},{"id":"https://openalex.org/F4320334901","display_name":"Jenny ja Antti Wihurin Rahasto","ror":"https://ror.org/01gpyzq83"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1539091696","https://openalex.org/W1578294898","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2110762409","https://openalex.org/W2117228865","https://openalex.org/W2154459632","https://openalex.org/W2236623899","https://openalex.org/W2271206385","https://openalex.org/W2296228853","https://openalex.org/W2299800748","https://openalex.org/W2474498487","https://openalex.org/W2482726005","https://openalex.org/W2745007981","https://openalex.org/W2746349752","https://openalex.org/W2766655725","https://openalex.org/W2903506349","https://openalex.org/W2909908358","https://openalex.org/W2963130659","https://openalex.org/W2967205338","https://openalex.org/W2998553944","https://openalex.org/W3015971833","https://openalex.org/W3129245057","https://openalex.org/W3174299515","https://openalex.org/W3176159010","https://openalex.org/W3200568502","https://openalex.org/W4280571816","https://openalex.org/W4362474920","https://openalex.org/W4376612281","https://openalex.org/W4390520658","https://openalex.org/W4401413959","https://openalex.org/W4404105291","https://openalex.org/W6968783156","https://openalex.org/W7108704997"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"We":[1],"propose":[2],"a":[3,48,53,57,96,125],"novel":[4],"and":[5,15,37,55,90,160],"comprehensive":[6],"autonomous":[7,161],"unmanned":[8],"aerial":[9],"vehicle":[10],"(UAV)":[11],"system":[12,23],"for":[13,163],"precision":[14],"targeted":[16],"spraying":[17],"of":[18,130,136],"seedling":[19,121],"pine":[20],"trees.":[21],"The":[22,99,142],"includes":[24],"three":[25],"main":[26],"modules:":[27],"real-time":[28],"state":[29,114,158],"estimation,":[30,159],"map":[31],"optimization":[32],"with":[33],"individual":[34,91],"tree":[35,132,153],"detection,":[36],"path":[38,126],"planning.":[39],"All":[40],"computations":[41],"are":[42,59,85,93,101],"performed":[43],"onboard":[44],"the":[45,60,65,81,128,134],"UAV":[46],"using":[47,95],"single-board":[49],"computer.":[50],"An":[51],"IMU,":[52],"LiDAR,":[54],"optionally":[56],"barometer":[58],"only":[61],"sensors":[62,75],"used":[63,103],"in":[64,76,113,147],"proposed":[66,143],"system.":[67],"A":[68,116],"pose-graph":[69],"approach":[70],"fuses":[71],"data":[72],"from":[73,87,127],"these":[74],"real":[77],"time":[78],"to":[79,104,123,133],"estimate":[80],"vehicle\u2019s":[82],"state.":[83],"Keyframes":[84],"selected":[86],"LiDAR":[88],"scans,":[89],"trees":[92,122],"segmented":[94],"region-growing":[97],"algorithm.":[98],"keyframes":[100],"also":[102],"generate":[105],"loop-closure":[106],"candidates,":[107],"which":[108],"help":[109],"reduce":[110],"long-term":[111],"drift":[112],"estimation.":[115],"path-planning":[117],"framework":[118,144],"uses":[119],"detected":[120],"plan":[124],"top":[129,135],"one":[131],"another,":[137],"while":[138],"avoiding":[139],"surrounding":[140],"obstacles.":[141],"is":[145],"tested":[146],"real-world":[148],"forest":[149],"environments,":[150],"demonstrating":[151],"accurate":[152],"segmentation,":[154],"coherent":[155],"mapping,":[156],"precise":[157],"navigation":[162],"spraying.":[164]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-03-07T00:00:00"}