{"id":"https://openalex.org/W4295855343","doi":"https://doi.org/10.1109/aicas54282.2022.9869975","title":"An Optimization Framework for Efficient Vision-Based Autonomous Drone Navigation","display_name":"An Optimization Framework for Efficient Vision-Based Autonomous Drone Navigation","publication_year":2022,"publication_date":"2022-06-13","ids":{"openalex":"https://openalex.org/W4295855343","doi":"https://doi.org/10.1109/aicas54282.2022.9869975"},"language":"en","primary_location":{"id":"doi:10.1109/aicas54282.2022.9869975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aicas54282.2022.9869975","pdf_url":null,"source":{"id":"https://openalex.org/S4363608281","display_name":"2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11603/25668","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002891616","display_name":"Mozhgan Navardi","orcid":"https://orcid.org/0000-0002-3521-2869"},"institutions":[{"id":"https://openalex.org/I79272384","display_name":"University of Maryland, Baltimore County","ror":"https://ror.org/02qskvh78","country_code":"US","type":"education","lineage":["https://openalex.org/I79272384"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mozhgan Navardi","raw_affiliation_strings":["University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering","institution_ids":["https://openalex.org/I79272384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067589584","display_name":"Aidin Shiri","orcid":"https://orcid.org/0000-0001-5402-0988"},"institutions":[{"id":"https://openalex.org/I79272384","display_name":"University of Maryland, Baltimore County","ror":"https://ror.org/02qskvh78","country_code":"US","type":"education","lineage":["https://openalex.org/I79272384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aidin Shiri","raw_affiliation_strings":["University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering","institution_ids":["https://openalex.org/I79272384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023630054","display_name":"Edward Humes","orcid":"https://orcid.org/0009-0002-3945-0116"},"institutions":[{"id":"https://openalex.org/I79272384","display_name":"University of Maryland, Baltimore County","ror":"https://ror.org/02qskvh78","country_code":"US","type":"education","lineage":["https://openalex.org/I79272384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edward Humes","raw_affiliation_strings":["University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering","institution_ids":["https://openalex.org/I79272384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079459509","display_name":"Nicholas R. Waytowich","orcid":"https://orcid.org/0000-0002-3786-0675"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas R. Waytowich","raw_affiliation_strings":["US Army Research Laboratory"],"affiliations":[{"raw_affiliation_string":"US Army Research Laboratory","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084010501","display_name":"Tinoosh Mohsenin","orcid":"https://orcid.org/0000-0001-5551-2124"},"institutions":[{"id":"https://openalex.org/I79272384","display_name":"University of Maryland, Baltimore County","ror":"https://ror.org/02qskvh78","country_code":"US","type":"education","lineage":["https://openalex.org/I79272384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tinoosh Mohsenin","raw_affiliation_strings":["University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"University of Maryland Baltimore County,Department of Computer Science & Electrical Engineering","institution_ids":["https://openalex.org/I79272384"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002891616"],"corresponding_institution_ids":["https://openalex.org/I79272384"],"apc_list":null,"apc_paid":null,"fwci":0.9595,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.83366605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"304","last_page":"307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9984999895095825,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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/drone","display_name":"Drone","score":0.847618818283081},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7587372660636902},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6098314523696899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.547299861907959},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5149868130683899},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4682164192199707},{"id":"https://openalex.org/keywords/edge-computing","display_name":"Edge computing","score":0.4556380808353424},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44327419996261597},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.42965206503868103},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.42897284030914307},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4137510061264038},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.41064363718032837},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.3714030981063843},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.34388765692710876},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2422049343585968},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.190718412399292}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.847618818283081},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7587372660636902},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6098314523696899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.547299861907959},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5149868130683899},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4682164192199707},{"id":"https://openalex.org/C2778456923","wikidata":"https://www.wikidata.org/wiki/Q5337692","display_name":"Edge computing","level":3,"score":0.4556380808353424},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44327419996261597},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.42965206503868103},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.42897284030914307},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4137510061264038},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.41064363718032837},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.3714030981063843},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34388765692710876},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2422049343585968},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.190718412399292},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/aicas54282.2022.9869975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aicas54282.2022.9869975","pdf_url":null,"source":{"id":"https://openalex.org/S4363608281","display_name":"2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 4th International Conference on Artificial Intelligence Circuits and Systems (AICAS)","raw_type":"proceedings-article"},{"id":"pmh:oai:mdsoar.org:11603/25668","is_oa":true,"landing_page_url":"http://hdl.handle.net/11603/25668","pdf_url":null,"source":{"id":"https://openalex.org/S4306402556","display_name":"Maryland Shared Open Access Repository (USMAI Consortium)","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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"doi:10.13016/m2mdxx-b47f","is_oa":true,"landing_page_url":"https://doi.org/10.13016/m2mdxx-b47f","pdf_url":null,"source":{"id":"https://openalex.org/S4306402644","display_name":"Digital Repository at the University of Maryland (University of Maryland College Park)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66946132","host_organization_name":"University of Maryland, College Park","host_organization_lineage":["https://openalex.org/I66946132"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mdsoar.org:11603/25668","is_oa":true,"landing_page_url":"http://hdl.handle.net/11603/25668","pdf_url":null,"source":{"id":"https://openalex.org/S4306402556","display_name":"Maryland Shared Open Access Repository (USMAI Consortium)","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":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.5400000214576721}],"awards":[{"id":"https://openalex.org/G3634866725","display_name":null,"funder_award_id":"W911NF2120076","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2768216293","https://openalex.org/W2788239209","https://openalex.org/W2806506455","https://openalex.org/W2889339831","https://openalex.org/W2909953480","https://openalex.org/W2955425717","https://openalex.org/W2963163009","https://openalex.org/W2982083293","https://openalex.org/W3098490553","https://openalex.org/W3148954376","https://openalex.org/W3184384085","https://openalex.org/W3213097409","https://openalex.org/W4297775537","https://openalex.org/W6737664043","https://openalex.org/W6762718338"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4327774218","https://openalex.org/W3206445629","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4379143281","https://openalex.org/W2965653290"],"abstract_inverted_index":{"Fully":[0],"autonomous":[1,104],"drones":[2,58,69,129],"are":[3,148,167],"a":[4,139,172,239],"new":[5],"emerging":[6],"field":[7],"that":[8],"has":[9],"enabled":[10,44],"many":[11],"applications":[12,45],"such":[13,46,65,108],"as":[14,47,109],"gas":[15],"source":[16],"leakage":[17],"localization,":[18],"wild-fire":[19],"detection,":[20],"smart":[21],"agriculture,":[22],"and":[23,25,32,38,50,60,79,112,130,142,155,165,175,184,209],"search":[24],"rescue":[26],"missions":[27],"in":[28,160],"unknown":[29],"limited":[30,76],"communication":[31],"GPS":[33],"denied":[34],"environments.":[35],"Artificial":[36],"intelligence":[37],"deep":[39,99],"Neural":[40],"Networks":[41],"(NN)":[42],"have":[43,205],"visual":[48],"perception":[49],"navigation":[51,106,230],"which":[52,224],"can":[53],"be":[54],"deployed":[55],"to":[56,74,194,197,217],"make":[57],"smarter":[59],"more":[61],"efficient.":[62],"However,":[63],"deploying":[64,98],"techniques":[66],"on":[67,171,220,238],"tiny":[68,128],"is":[70,225,236],"extremely":[71],"challenging":[72],"due":[73],"the":[75,123,132,156,188,202,221,234],"computational":[77],"resources":[78],"power":[80],"envelope":[81],"of":[82,162,187],"edge":[83,177],"devices.":[84,178],"To":[85],"achieve":[86,215],"this":[87,89],"goal,":[88],"paper":[90,116],"proposes":[91],"an":[92],"efficient":[93,158],"end-to-end":[94],"optimization":[95],"method":[96],"for":[97,102,121,135,169,227],"NN":[100,124,153,182],"models":[101,147,183],"vision-based":[103],"drone":[105,229],"applications,":[107],"obstacle":[110],"avoidance":[111],"steering":[113],"task.":[114],"This":[115],"formulates":[117],"two":[118],"different":[119],"methods":[120],"implementing":[122],"inference":[125],"phase":[126],"onto":[127],"analyzing":[131],"implementation":[133,141,170,189],"results":[134],"each":[136],"case:":[137],"1)":[138],"Cloud-IoT":[140],"2)":[143],"Onboard":[144],"Processing.":[145],"Several":[146],"trained":[149],"with":[150],"state-of-the-art":[151],"scalable":[152],"architectures":[154],"most":[157],"cases":[159],"terms":[161],"computation":[163,203],"complexity":[164],"accuracy":[166],"selected":[168],"cloud":[173],"server":[174],"several":[176],"By":[179],"designing":[180],"hardware-friendly":[181],"optimal":[185],"configuration":[186],"platforms,":[190],"we":[191,214],"were":[192],"able":[193],"reach":[195],"up":[196,201,216],"97%":[198],"accuracy,":[199],"speed":[200],"2.3\u00d7,":[204],"22\u00d7":[206],"less":[207],"complexity,":[208],"53%":[210],"energy":[211],"reduction.":[212],"Also,":[213],"25":[218],"fps":[219],"GAP8":[222],"processor,":[223],"enough":[226],"real-time":[228],"requirements,":[231],"even":[232],"when":[233],"model":[235],"running":[237],"small":[240],"IoT":[241],"device.":[242]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}