{"id":"https://openalex.org/W4403096083","doi":"https://doi.org/10.1109/access.2024.3473792","title":"Collaborative Autonomous Navigation of Quadrotors in Unknown Outdoor Environments: An Active Visual SLAM Approach","display_name":"Collaborative Autonomous Navigation of Quadrotors in Unknown Outdoor Environments: An Active Visual SLAM Approach","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4403096083","doi":"https://doi.org/10.1109/access.2024.3473792"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3473792","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3473792","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3473792","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081422797","display_name":"Samaneh Elahian","orcid":"https://orcid.org/0000-0003-0392-4690"},"institutions":[{"id":"https://openalex.org/I170733385","display_name":"University of Applied Science and Technology","ror":"https://ror.org/04r58gt57","country_code":"IR","type":"education","lineage":["https://openalex.org/I170733385"]},{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Samaneh Elahian","raw_affiliation_strings":["Department of Aerospace Engineering, College of Interdisciplinary Science and Technology, University of Tehran, Tehran, Iran","New Sciences and Technologies, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0003-0392-4690","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, College of Interdisciplinary Science and Technology, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I170733385","https://openalex.org/I23946033","https://openalex.org/I67009956"]},{"raw_affiliation_string":"New Sciences and Technologies, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064427514","display_name":"M. A. Amiri Atashgah","orcid":"https://orcid.org/0000-0002-8096-4162"},"institutions":[{"id":"https://openalex.org/I170733385","display_name":"University of Applied Science and Technology","ror":"https://ror.org/04r58gt57","country_code":"IR","type":"education","lineage":["https://openalex.org/I170733385"]},{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. A. Amiri Atashgah","raw_affiliation_strings":["Department of Aerospace Engineering, College of Interdisciplinary Science and Technology, University of Tehran, Tehran, Iran","New Sciences and Technologies, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-8096-4162","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, College of Interdisciplinary Science and Technology, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I170733385","https://openalex.org/I23946033","https://openalex.org/I67009956"]},{"raw_affiliation_string":"New Sciences and Technologies, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113415985","display_name":"Bahram Tarverdizadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Bahram Tarvirdizadeh","raw_affiliation_strings":["Department of Mechatronics Engineering, School of Intelligent Systems Engineering, College of Interdisciplinary Science and Technology, Advanced Service Robots (ASR) Laboratory, University of Tehran, Tehran, Iran","New Sciences and Technologies, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-9851-3805","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, School of Intelligent Systems Engineering, College of Interdisciplinary Science and Technology, Advanced Service Robots (ASR) Laboratory, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"New Sciences and Technologies, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.1645,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44052782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"147115","last_page":"147128"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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":0.9977999925613403,"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":0.9951000213623047,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9477999806404114,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.7410423755645752},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7027237415313721},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6180837154388428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.556769073009491},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4784277081489563},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4521711468696594},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33649563789367676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27534717321395874}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7410423755645752},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7027237415313721},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6180837154388428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.556769073009491},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4784277081489563},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4521711468696594},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33649563789367676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27534717321395874}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3473792","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3473792","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:aadccc4190224a598fec755ff0bfa217","is_oa":true,"landing_page_url":"https://doaj.org/article/aadccc4190224a598fec755ff0bfa217","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 147115-147128 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3473792","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3473792","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1494920118","https://openalex.org/W1604601053","https://openalex.org/W1964373008","https://openalex.org/W1972624884","https://openalex.org/W1981826826","https://openalex.org/W1988376519","https://openalex.org/W1988889787","https://openalex.org/W1993572802","https://openalex.org/W1995058004","https://openalex.org/W2011783542","https://openalex.org/W2013662474","https://openalex.org/W2043547096","https://openalex.org/W2053202351","https://openalex.org/W2054727028","https://openalex.org/W2073409970","https://openalex.org/W2075956742","https://openalex.org/W2089329623","https://openalex.org/W2106065105","https://openalex.org/W2109448614","https://openalex.org/W2140998418","https://openalex.org/W2163711198","https://openalex.org/W2166077797","https://openalex.org/W2172011507","https://openalex.org/W2306644740","https://openalex.org/W2333881355","https://openalex.org/W2335799662","https://openalex.org/W2415570156","https://openalex.org/W2524886531","https://openalex.org/W2598106551","https://openalex.org/W2740745957","https://openalex.org/W2775192831","https://openalex.org/W2781953456","https://openalex.org/W2792526813","https://openalex.org/W2799820594","https://openalex.org/W2810728245","https://openalex.org/W2903465080","https://openalex.org/W2920818934","https://openalex.org/W2942307437","https://openalex.org/W2967129110","https://openalex.org/W2975307134","https://openalex.org/W2997494682","https://openalex.org/W3014317984","https://openalex.org/W3016164434","https://openalex.org/W3017222518","https://openalex.org/W3017355237","https://openalex.org/W3018325508","https://openalex.org/W3089321229","https://openalex.org/W3148844386","https://openalex.org/W3187215981","https://openalex.org/W3194332337","https://openalex.org/W4286781802","https://openalex.org/W4293812226","https://openalex.org/W4384916378","https://openalex.org/W4391582746","https://openalex.org/W6850471129"],"related_works":["https://openalex.org/W2068608913","https://openalex.org/W3124914020","https://openalex.org/W2141033859","https://openalex.org/W2077542787","https://openalex.org/W2156434174","https://openalex.org/W2071701083","https://openalex.org/W2383687187","https://openalex.org/W2070401501","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"The":[0,189,220],"development":[1],"of":[2,21,33,61,71,79,96,118,128,156,184,206,237],"an":[3],"integrated":[4],"path-planning":[5,42,54,159,164],"and":[6,9,18,106,138,222,232],"Simultaneous":[7],"Localization":[8],"Mapping":[10],"(ASLAM)":[11],"system,":[12],"specifically":[13],"designed":[14],"for":[15,50,132,144],"the":[16,31,59,62,77,80,89,94,97,104,126,140,145,151,157,178,185,204,207,213,217,234,238],"autonomous":[17],"real-time":[19],"guidance":[20],"quadrotors":[22,120],"navigating":[23],"through":[24],"unexplored":[25],"outdoor":[26],"environments":[27],"helps":[28],"to":[29,75,150,202,212,246],"map":[30,98],"generation":[32],"unknown":[34],"natural":[35],"resources.":[36],"To":[37,102],"achieve":[38],"this":[39,124],"goal,":[40],"a":[41,51,69,111,116,129,162,167,192,198,226,247],"methodology":[43],"that":[44],"leverages":[45],"system":[46,72,108],"observability":[47,73],"is":[48,56,121,148,170,200],"exploited":[49],"quadrotor.":[52,153],"This":[53,175],"method":[55,160],"underpinned":[57],"by":[58],"eigenvalues":[60],"Gramian":[63],"matrix,":[64],"which":[65],"are":[66],"used":[67],"as":[68],"measure":[70],"degree,":[74],"increase":[76],"precision":[78],"quadrotor\u2019s":[81,90,186],"estimated":[82],"position.":[83],"In":[84,123],"SLAM,":[85],"high":[86],"accuracy":[87,95,105,228],"in":[88,195,210,229,242],"state":[91,187],"estimation":[92],"improves":[93],"landmarks":[99],"position":[100],"estimation.":[101,188],"enhance":[103],"fortify":[107],"robustness,":[109],"implementing":[110],"centralized":[112],"distributed":[113],"architecture":[114,169,209,215],"within":[115,166],"group":[117,147],"three":[119],"advocated.":[122],"setup,":[125],"role":[127],"central":[130],"hub":[131],"information":[133],"fusion":[134],"from":[135],"all":[136,230],"agents":[137],"determining":[139],"most":[141],"observable":[142],"path":[143],"entire":[146],"assigned":[149],"leader":[152],"An":[154],"assessment":[155],"proposed":[158,218],"against":[161],"random":[163],"approach":[165],"single-agent":[168,214,248],"conducted":[171,201],"across":[172],"various":[173],"scenarios.":[174],"evaluation":[176],"compares":[177],"Root":[179],"Mean":[180],"Square":[181],"Error":[182],"(RMSE)":[183],"results":[190,224],"illustrate":[191],"notable":[193],"improvement":[194],"accuracy.":[196],"Furthermore,":[197],"comparison":[199],"assess":[203],"performance":[205],"multi-agent":[208],"contrast":[211],"using":[216],"method.":[219],"simulation":[221],"experimental":[223],"confirm":[225],"better":[227],"scenarios":[231],"highlight":[233],"increased":[235],"robustness":[236],"cooperative":[239],"architecture,":[240],"particularly":[241],"fault":[243],"scenarios,":[244],"compared":[245],"architecture.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}