{"id":"https://openalex.org/W2772154329","doi":"https://doi.org/10.1109/iros.2017.8202264","title":"Quadrotor-UAV optimal coverage path planning in cluttered environment with a limited onboard energy","display_name":"Quadrotor-UAV optimal coverage path planning in cluttered environment with a limited onboard energy","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772154329","doi":"https://doi.org/10.1109/iros.2017.8202264","mag":"2772154329"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01716915","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035814822","display_name":"Yasser Bouzid","orcid":"https://orcid.org/0000-0002-8400-9912"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107733","display_name":"Informatique, BioInformatique, Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Bouzid","raw_affiliation_strings":["IBISC, Universit\u00e9 Paris-Saclay, Evry, France","IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IBISC, Universit\u00e9 Paris-Saclay, Evry, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210107733"]},{"raw_affiliation_string":"IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)","institution_ids":["https://openalex.org/I4210107733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047613183","display_name":"Yasmina Bestaoui","orcid":"https://orcid.org/0000-0001-7716-5952"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107733","display_name":"Informatique, BioInformatique, Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Bestaoui","raw_affiliation_strings":["IBISC, Universit\u00e9 Paris-Saclay, Evry, France","IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IBISC, Universit\u00e9 Paris-Saclay, Evry, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210107733"]},{"raw_affiliation_string":"IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)","institution_ids":["https://openalex.org/I4210107733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104532818","display_name":"Houria Siguerdidjane","orcid":"https://orcid.org/0000-0002-6990-6463"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"H. Siguerdidjane","raw_affiliation_strings":["L2S, Universit\u00e9 Paris-Saclay, Gif sur yvette, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"L2S, Universit\u00e9 Paris-Saclay, Gif sur yvette, France","institution_ids":["https://openalex.org/I277688954"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7134,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.91241148,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"979","last_page":"984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9958000183105469,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9940000176429749,"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/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.7657597064971924},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7245784401893616},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6555464267730713},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.6452303528785706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5742007493972778},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5552951097488403},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5546167492866516},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5175963640213013},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5050352215766907},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.49011167883872986},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4455922245979309},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.42841672897338867},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42024660110473633},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3599894642829895},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26904135942459106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16229844093322754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14517641067504883},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10276928544044495},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.06885039806365967}],"concepts":[{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.7657597064971924},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7245784401893616},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6555464267730713},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.6452303528785706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5742007493972778},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5552951097488403},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5546167492866516},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5175963640213013},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5050352215766907},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.49011167883872986},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4455922245979309},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.42841672897338867},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42024660110473633},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3599894642829895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26904135942459106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16229844093322754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14517641067504883},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10276928544044495},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.06885039806365967},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2017.8202264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01716915v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01716915","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. pp.979--984, &#x27E8;10.1109/IROS.2017.8202264&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:hal-01721993v1","is_oa":false,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01721993","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"\\ninfo:eu-repo/semantics/conferenceObject\\n"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01716915v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01716915","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. pp.979--984, &#x27E8;10.1109/IROS.2017.8202264&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W154596312","https://openalex.org/W1482301538","https://openalex.org/W2013724094","https://openalex.org/W2052976867","https://openalex.org/W2071401582","https://openalex.org/W2118552352","https://openalex.org/W2128990851","https://openalex.org/W2135003933","https://openalex.org/W2461374934","https://openalex.org/W6718652924"],"related_works":["https://openalex.org/W1525389557","https://openalex.org/W2361554335","https://openalex.org/W2359992618","https://openalex.org/W2164188042","https://openalex.org/W4297427155","https://openalex.org/W3025823153","https://openalex.org/W3136451934","https://openalex.org/W3200006077","https://openalex.org/W2975368677","https://openalex.org/W2170228269"],"abstract_inverted_index":{"In":[0,44],"this":[1,144],"paper,":[2],"a":[3,20,40,119],"quadrotor":[4,15],"optimal":[5,56],"coverage":[6],"planning":[7],"approach":[8],"in":[9,91],"damaged":[10],"area":[11],"is":[12,16,36,67,99,130,134,148],"considered.":[13],"The":[14,34,141],"assumed":[17],"to":[18,69,77],"visit":[19],"set":[21],"of":[22,143],"reachable":[23],"points":[24,85],"following":[25],"the":[26,31,45,71,81,88,92,95,103,115,124,137],"shortest":[27,72,97],"path":[28,98],"while":[29],"avoiding":[30],"no-fly":[32],"zones.":[33],"problem":[35],"solved":[37,135],"by":[38,87,101],"using":[39,108,136],"two-scale":[41,146],"proposed":[42,145],"algorithm.":[43],"first":[46],"scale,":[47,94],"an":[48],"efficient":[49],"tool":[50],"for":[51],"cluttered":[52],"environments":[53],"based":[54,122],"on":[55,123],"Rapidly-exploring":[57],"Random":[58],"Trees":[59],"(RRT)":[60],"approach,":[61],"called":[62],"multi-RRT*":[63],"Fixed":[64],"Node":[65],"(RRT*FN),":[66],"developed":[68],"define":[70],"paths":[73],"from":[74],"each":[75],"point":[76],"their":[78],"neighbors.":[79],"Using":[80],"pair-wise":[82],"costs":[83],"between":[84],"provided":[86],"first-scale":[89],"algorithm,":[90],"second":[93,120],"overall":[96],"obtained":[100],"solving":[102],"Traveling":[104],"Salesman":[105],"Problem":[106,128],"(TSP)":[107],"Genetic":[109],"Algorithms":[110],"(GA).":[111],"Taking":[112],"into":[113],"consideration":[114],"limited":[116],"onboard":[117],"energy,":[118],"alternative":[121],"well-known":[125],"Vehicle":[126],"Routing":[127],"(VRP)":[129],"used.":[131],"This":[132],"latter":[133],"savings":[138],"heuristic":[139],"approach.":[140],"effectiveness":[142],"algorithm":[147],"demonstrated":[149],"through":[150],"numerical":[151],"simulations":[152],"and":[153],"promising":[154],"results":[155],"are":[156],"obtained.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
