{"id":"https://openalex.org/W4206551848","doi":"https://doi.org/10.1109/jstars.2021.3134948","title":"VPP: Visibility-Based Path Planning Heuristic for Monitoring Large Regions of Complex Terrain Using a UAV Onboard Camera","display_name":"VPP: Visibility-Based Path Planning Heuristic for Monitoring Large Regions of Complex Terrain Using a UAV Onboard Camera","publication_year":2021,"publication_date":"2021-12-13","ids":{"openalex":"https://openalex.org/W4206551848","doi":"https://doi.org/10.1109/jstars.2021.3134948"},"language":"en","primary_location":{"id":"doi:10.1109/jstars.2021.3134948","is_oa":true,"landing_page_url":"https://doi.org/10.1109/jstars.2021.3134948","pdf_url":"https://ieeexplore.ieee.org/ielx7/4609443/9656571/09647997.pdf","source":{"id":"https://openalex.org/S117727964","display_name":"IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing","issn_l":"1939-1404","issn":["1939-1404","2151-1535"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/4609443/9656571/09647997.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063420411","display_name":"Andres J. Sanchez\u2010Fernandez","orcid":"https://orcid.org/0000-0001-6743-3570"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Andres J. Sanchez-Fernandez","raw_affiliation_strings":["Department of Computer Architecture, University of Malaga, Malaga, Spain","Computer Architecture, University of Mlaga, 16752 Malaga, Malaga, Spain, (e-mail: sfandres@uma.es)"],"affiliations":[{"raw_affiliation_string":"Department of Computer Architecture, University of Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Computer Architecture, University of Mlaga, 16752 Malaga, Malaga, Spain, (e-mail: sfandres@uma.es)","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061737207","display_name":"Luis F. Romero","orcid":"https://orcid.org/0000-0003-2959-2030"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis F. Romero","raw_affiliation_strings":["Department of Computer Architecture, University of Malaga, Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Computer Architecture, University of Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086486105","display_name":"Gerardo Bandera","orcid":"https://orcid.org/0000-0003-0809-1050"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gerardo Bandera","raw_affiliation_strings":["Department of Computer Architecture, University of Malaga, Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Computer Architecture, University of Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057876711","display_name":"Siham Tabik","orcid":"https://orcid.org/0000-0003-4093-5356"},"institutions":[{"id":"https://openalex.org/I4210095677","display_name":"Instituto Andaluz de Ciencias de la Tierra","ror":"https://ror.org/00v0g9w49","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210095677"]},{"id":"https://openalex.org/I173304897","display_name":"Universidad de Granada","ror":"https://ror.org/04njjy449","country_code":"ES","type":"education","lineage":["https://openalex.org/I173304897"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Siham Tabik","raw_affiliation_strings":["Department of Computer Science and Artificial Intelligence and DaSCI (Andalusian Research Institute in Data Science and Computational Intelligence), University of Granada, Granada, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Artificial Intelligence and DaSCI (Andalusian Research Institute in Data Science and Computational Intelligence), University of Granada, Granada, Spain","institution_ids":["https://openalex.org/I4210095677","https://openalex.org/I173304897"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063420411"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":{"value":1250,"currency":"USD","value_usd":1250},"apc_paid":{"value":1250,"currency":"USD","value_usd":1250},"fwci":1.1626,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.81231562,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"15","issue":null,"first_page":"944","last_page":"955"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9954000115394592,"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":0.995199978351593,"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/viewshed-analysis","display_name":"Viewshed analysis","score":0.9325056076049805},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.8294743299484253},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7815223336219788},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7267042994499207},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6589832901954651},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5622116923332214},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4640713334083557},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.456226646900177},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3875504434108734},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34493589401245117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31950753927230835},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2534957528114319},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1513431966304779},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.12584495544433594}],"concepts":[{"id":"https://openalex.org/C24300010","wikidata":"https://www.wikidata.org/wiki/Q7928833","display_name":"Viewshed analysis","level":2,"score":0.9325056076049805},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8294743299484253},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7815223336219788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7267042994499207},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6589832901954651},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5622116923332214},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4640713334083557},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.456226646900177},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3875504434108734},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34493589401245117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31950753927230835},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2534957528114319},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1513431966304779},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.12584495544433594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/jstars.2021.3134948","is_oa":true,"landing_page_url":"https://doi.org/10.1109/jstars.2021.3134948","pdf_url":"https://ieeexplore.ieee.org/ielx7/4609443/9656571/09647997.pdf","source":{"id":"https://openalex.org/S117727964","display_name":"IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing","issn_l":"1939-1404","issn":["1939-1404","2151-1535"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:digibug.ugr.es:10481/72757","is_oa":true,"landing_page_url":"http://hdl.handle.net/10481/72757","pdf_url":null,"source":{"id":"https://openalex.org/S4306400567","display_name":"Institutional Repository of the University of Granada (University of Granada)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173304897","host_organization_name":"Universidad de Granada","host_organization_lineage":["https://openalex.org/I173304897"],"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":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:411e2490ee404e3fbb5e876887db6809","is_oa":true,"landing_page_url":"https://doaj.org/article/411e2490ee404e3fbb5e876887db6809","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, Vol 15, Pp 944-955 (2022)","raw_type":"article"},{"id":"pmh:oai:riuma.uma.es:10630/30190","is_oa":true,"landing_page_url":"https://hdl.handle.net/10630/30190","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"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":"VoR"}],"best_oa_location":{"id":"doi:10.1109/jstars.2021.3134948","is_oa":true,"landing_page_url":"https://doi.org/10.1109/jstars.2021.3134948","pdf_url":"https://ieeexplore.ieee.org/ielx7/4609443/9656571/09647997.pdf","source":{"id":"https://openalex.org/S117727964","display_name":"IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing","issn_l":"1939-1404","issn":["1939-1404","2151-1535"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G2907847778","display_name":null,"funder_award_id":"UGR18","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G3666732222","display_name":null,"funder_award_id":"TIN2016-80920-R","funder_id":"https://openalex.org/F4320323737","funder_display_name":"Ministerio de Ciencia y Tecnolog\u00eda"},{"id":"https://openalex.org/G4899589426","display_name":null,"funder_award_id":"PID2019-105396RB-I00","funder_id":"https://openalex.org/F4320323737","funder_display_name":"Ministerio de Ciencia y Tecnolog\u00eda"}],"funders":[{"id":"https://openalex.org/F4320311265","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28"},{"id":"https://openalex.org/F4320323737","display_name":"Ministerio de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4206551848.pdf","grobid_xml":"https://content.openalex.org/works/W4206551848.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W619873916","https://openalex.org/W1561867011","https://openalex.org/W1981405009","https://openalex.org/W2052533523","https://openalex.org/W2071065188","https://openalex.org/W2434137915","https://openalex.org/W2462226675","https://openalex.org/W2519117472","https://openalex.org/W2571149404","https://openalex.org/W2593697489","https://openalex.org/W2603773813","https://openalex.org/W2608726595","https://openalex.org/W2609308222","https://openalex.org/W2609732975","https://openalex.org/W2624604553","https://openalex.org/W2728224506","https://openalex.org/W2736508163","https://openalex.org/W2803550942","https://openalex.org/W2883952496","https://openalex.org/W2896456531","https://openalex.org/W2899959996","https://openalex.org/W2910634611","https://openalex.org/W2917908719","https://openalex.org/W2928980835","https://openalex.org/W2942129508","https://openalex.org/W2945648342","https://openalex.org/W2957660816","https://openalex.org/W2964011490","https://openalex.org/W2987256267","https://openalex.org/W3008821368","https://openalex.org/W3017542364","https://openalex.org/W3046967893","https://openalex.org/W3093009991","https://openalex.org/W3109737720"],"related_works":["https://openalex.org/W2375147464","https://openalex.org/W2071830897","https://openalex.org/W2770983078","https://openalex.org/W1970181469","https://openalex.org/W3202931507","https://openalex.org/W3133572247","https://openalex.org/W3142356932","https://openalex.org/W4324296801","https://openalex.org/W4285089922","https://openalex.org/W1965238403"],"abstract_inverted_index":{"The":[0],"use":[1],"of":[2,31,75,136,160,169,182,189],"unmanned":[3],"aerial":[4],"vehicles":[5],"with":[6],"multiple":[7],"onboard":[8],"sensors":[9],"has":[10],"grown":[11],"significantly":[12],"in":[13,215],"tasks":[14,33],"involving":[15],"terrain":[16],"coverage":[17],"such":[18],"as":[19,187],"environmental":[20],"and":[21,26,37,63,82,167,185,206],"civil":[22],"monitoring,":[23],"disaster":[24],"management,":[25],"forest":[27],"fire":[28],"fighting.":[29],"Many":[30],"these":[32],"require":[34],"a":[35,50,98,109,113,123,142,193],"quick":[36],"early":[38],"response,":[39],"which":[40],"makes":[41],"maximizing":[42],"the":[43,47,55,93,127,133,137,146,161,170,180,198],"land":[44],"covered":[45],"from":[46],"flight":[48,195],"path":[49,118,128,143],"challenging":[51],"objective,":[52],"especially":[53],"when":[54],"area":[56],"to":[57,78,126,140,158,212],"be":[58,74,209],"monitored":[59],"is":[60,97],"irregular,":[61],"large":[62,80,217],"includes":[64],"many":[65],"blind":[66],"spots.":[67],"Accordingly,":[68],"state-of-the-art":[69],"total":[70,94],"viewshed":[71,95],"algorithms":[72],"can":[73,155,208],"great":[76],"help":[77],"analyze":[79],"areas":[81,135],"find":[83],"new":[84,114],"paths":[85,103],"providing":[86],"maximum":[87,106],"visibility.":[88],"This":[89],"article":[90],"shows":[91],"how":[92],"computation":[96],"valuable":[99],"tool":[100],"for":[101],"generating":[102],"that":[104,121,144,153],"provide":[105],"visibility":[107,200],"during":[108],"flight.":[110],"We":[111],"introduce":[112],"heuristic":[115],"called":[116],"visibility-based":[117],"planning":[119,129],"(VPP)":[120],"offers":[122],"different":[124],"solution":[125],"problem.":[130],"VPP":[131,154],"identifies":[132],"hidden":[134],"target":[138],"territory":[139],"generate":[141],"provides":[145],"highest":[147],"visual":[148],"coverage.":[149],"Simulation":[150],"results":[151],"show":[152],"cover":[156],"up":[157],"98.7%":[159],"Montes":[162],"de":[163,172],"Malaga":[164,183],"Natural":[165],"Park":[166],"94.5%":[168],"Sierra":[171],"las":[173],"Nieves":[174],"National":[175],"Park,":[176],"both":[177],"located":[178],"within":[179],"province":[181],"(Spain)":[184],"chosen":[186],"regions":[188],"interest.":[190],"In":[191],"addition,":[192],"real":[194],"test":[196],"confirmed":[197],"high":[199],"achieved":[201],"using":[202],"VPP.":[203],"Our":[204],"methodology":[205],"analysis":[207],"easily":[210],"applied":[211],"enhance":[213],"monitoring":[214],"other":[216],"outdoor":[218],"areas.":[219]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}