{"id":"https://openalex.org/W2603794593","doi":"https://doi.org/10.1109/iros.2017.8202317","title":"Multiresolution mapping and informative path planning for UAV-based terrain monitoring","display_name":"Multiresolution mapping and informative path planning for UAV-based terrain monitoring","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2603794593","doi":"https://doi.org/10.1109/iros.2017.8202317","mag":"2603794593"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202317","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":"http://hdl.handle.net/10453/118105","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072802898","display_name":"Marija Popovi\u0107","orcid":"https://orcid.org/0000-0002-8830-6033"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marija Popovic","raw_affiliation_strings":["Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086794522","display_name":"Teresa Vidal\u2010Calleja","orcid":"https://orcid.org/0000-0002-5763-9644"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Teresa Vidal-Calleja","raw_affiliation_strings":["Faculty of Engineering and IT, University of Technology, Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and IT, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009209381","display_name":"Gregory Hitz","orcid":"https://orcid.org/0000-0001-6339-3532"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Gregory Hitz","raw_affiliation_strings":["Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065532121","display_name":"Inkyu Sa","orcid":"https://orcid.org/0000-0001-5429-0515"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Inkyu Sa","raw_affiliation_strings":["Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab., ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":118.0377,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.99900523,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1382","last_page":"1388"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9894000291824341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7339761853218079},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6056901812553406},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5831799507141113},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5642874836921692},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4936726987361908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47277334332466125},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.467658668756485},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.45882725715637207},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4281829595565796},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4272025525569916},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3748948574066162},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36846983432769775},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.26155686378479004},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24722400307655334},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2118905782699585},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09469732642173767}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7339761853218079},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6056901812553406},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5831799507141113},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5642874836921692},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4936726987361908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47277334332466125},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.467658668756485},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.45882725715637207},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4281829595565796},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4272025525569916},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3748948574066162},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36846983432769775},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.26155686378479004},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24722400307655334},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2118905782699585},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09469732642173767},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8202317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202317","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:opus.lib.uts.edu.au:10453/118105","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/118105","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/118105","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/118105","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G1494593301","display_name":null,"funder_award_id":"15.0029","funder_id":"https://openalex.org/F4320335238","funder_display_name":"Staatssekretariat f\u00fcr Bildung, Forschung und Innovation"}],"funders":[{"id":"https://openalex.org/F4320335238","display_name":"Staatssekretariat f\u00fcr Bildung, Forschung und Innovation","ror":"https://ror.org/01kw63t33"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1493184037","https://openalex.org/W1542367368","https://openalex.org/W1573725801","https://openalex.org/W1701825639","https://openalex.org/W1746819321","https://openalex.org/W1967077835","https://openalex.org/W1977189000","https://openalex.org/W1998943389","https://openalex.org/W2032239956","https://openalex.org/W2041684917","https://openalex.org/W2044359184","https://openalex.org/W2064862914","https://openalex.org/W2072931689","https://openalex.org/W2083327122","https://openalex.org/W2104409492","https://openalex.org/W2131824593","https://openalex.org/W2143088799","https://openalex.org/W2158483689","https://openalex.org/W2416626317","https://openalex.org/W2498934345","https://openalex.org/W2585306788","https://openalex.org/W2782759419","https://openalex.org/W2963338060","https://openalex.org/W3003506411","https://openalex.org/W4211049957","https://openalex.org/W4236236480","https://openalex.org/W4285719527","https://openalex.org/W6661516027","https://openalex.org/W6679608865","https://openalex.org/W7045649236"],"related_works":["https://openalex.org/W2897159755","https://openalex.org/W1992962589","https://openalex.org/W4285089922","https://openalex.org/W1992005931","https://openalex.org/W2908094156","https://openalex.org/W2030136595","https://openalex.org/W3172527413","https://openalex.org/W2142360609","https://openalex.org/W4200216229","https://openalex.org/W2415931830"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1,80],"vehicles":[2],"(UAVs)":[3],"can":[4],"offer":[5],"timely":[6],"and":[7,17,82,106],"cost-effective":[8],"delivery":[9],"of":[10,103,116,135,147],"high-quality":[11],"sensing":[12],"data.":[13],"However,":[14],"deciding":[15],"when":[16],"where":[18],"to":[19,74,92,137,140,152],"take":[20],"measurements":[21],"in":[22,44,56,96,155],"complex":[23],"environments":[24],"remains":[25],"an":[26],"open":[27],"challenge.":[28],"To":[29],"address":[30],"this":[31],"issue,":[32],"we":[33],"introduce":[34],"a":[35,57,62,101,150],"new":[36],"multiresolution":[37],"mapping":[38],"approach":[39],"for":[40,64,79],"informative":[41],"path":[42],"planning":[43],"terrain":[45],"monitoring":[46],"using":[47,149],"UAVs.":[48],"Our":[49],"strategy":[50],"exploits":[51],"the":[52,114],"spatial":[53],"correlation":[54],"encoded":[55],"Gaussian":[58],"Process":[59],"model":[60],"as":[61],"prior":[63],"Bayesian":[65],"data":[66],"fusion":[67],"with":[68,131],"probabilistic":[69],"sensors.":[70],"This":[71],"allows":[72],"us":[73],"incorporate":[75],"altitude-dependent":[76],"sensor":[77],"models":[78],"imaging":[81],"perform":[83],"constant-time":[84],"measurement":[85],"updates.":[86],"The":[87],"resulting":[88],"maps":[89],"are":[90],"used":[91],"plan":[93],"information-rich":[94],"trajectories":[95],"continuous":[97],"3-D":[98],"space":[99],"through":[100],"combination":[102],"grid":[104],"search":[105],"evolutionary":[107],"optimization.":[108],"We":[109,144],"evaluate":[110],"our":[111,124],"framework":[112],"on":[113],"application":[115],"agricultural":[117],"biomass":[118],"monitoring.":[119],"Extensive":[120],"simulations":[121],"show":[122],"that":[123],"planner":[125],"performs":[126],"better":[127],"than":[128],"existing":[129],"methods,":[130],"mean":[132],"error":[133],"reductions":[134],"up":[136],"45%":[138],"compared":[139],"traditional":[141],"\u201clawnmower\u201d":[142],"coverage.":[143],"demonstrate":[145],"proof":[146],"concept":[148],"multirotor":[151],"map":[153],"color":[154],"different":[156],"environments.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}