{"id":"https://openalex.org/W2883952496","doi":"https://doi.org/10.1109/lra.2018.2854967","title":"Energy-Aware Spiral Coverage Path Planning for UAV Photogrammetric Applications","display_name":"Energy-Aware Spiral Coverage Path Planning for UAV Photogrammetric Applications","publication_year":2018,"publication_date":"2018-07-16","ids":{"openalex":"https://openalex.org/W2883952496","doi":"https://doi.org/10.1109/lra.2018.2854967","mag":"2883952496"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2854967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2854967","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035279785","display_name":"Tau\u00e3 M. Cabreira","orcid":"https://orcid.org/0000-0002-8134-4272"},"institutions":[{"id":"https://openalex.org/I169248161","display_name":"Universidade Federal de Pelotas","ror":"https://ror.org/05msy9z54","country_code":"BR","type":"education","lineage":["https://openalex.org/I169248161"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Taua M. Cabreira","raw_affiliation_strings":["Programa de P\u00f3s-Gradua\u00e7\u00e3o em Computa\u00e7\u00e3o, Universidade Federal de Pelotas, Pelotas, Brazil"],"affiliations":[{"raw_affiliation_string":"Programa de P\u00f3s-Gradua\u00e7\u00e3o em Computa\u00e7\u00e3o, Universidade Federal de Pelotas, Pelotas, Brazil","institution_ids":["https://openalex.org/I169248161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001113179","display_name":"Carmelo Di Franco","orcid":"https://orcid.org/0000-0003-3518-8050"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carmelo Di Franco","raw_affiliation_strings":["ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy","ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039538346","display_name":"Paulo R. Ferreira","orcid":"https://orcid.org/0000-0001-5631-6766"},"institutions":[{"id":"https://openalex.org/I169248161","display_name":"Universidade Federal de Pelotas","ror":"https://ror.org/05msy9z54","country_code":"BR","type":"education","lineage":["https://openalex.org/I169248161"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Paulo R. Ferreira","raw_affiliation_strings":["Programa de P\u00f3s-Gradua\u00e7\u00e3o em Computa\u00e7\u00e3o, Universidade Federal de Pelotas, Pelotas, Brazil"],"affiliations":[{"raw_affiliation_string":"Programa de P\u00f3s-Gradua\u00e7\u00e3o em Computa\u00e7\u00e3o, Universidade Federal de Pelotas, Pelotas, Brazil","institution_ids":["https://openalex.org/I169248161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024920325","display_name":"Giorgio Buttazzo","orcid":"https://orcid.org/0000-0003-4959-4017"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio C. Buttazzo","raw_affiliation_strings":["ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy","ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"ReTiS Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035279785"],"corresponding_institution_ids":["https://openalex.org/I169248161"],"apc_list":null,"apc_paid":null,"fwci":7.2485,"has_fulltext":false,"cited_by_count":199,"citation_normalized_percentile":{"value":0.97830981,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"3","issue":"4","first_page":"3662","last_page":"3668"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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":0.9945999979972839,"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/spiral","display_name":"Spiral (railway)","score":0.8402419686317444},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.683026909828186},{"id":"https://openalex.org/keywords/photogrammetry","display_name":"Photogrammetry","score":0.6452032923698425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6110191345214844},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5344706177711487},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5267890095710754},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4694397449493408},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4609215259552002},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45555955171585083},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4116142988204956},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41059058904647827},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.33941975235939026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3283149003982544},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21368005871772766},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2011680006980896},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11384415626525879},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11358559131622314},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0942302942276001},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0849662721157074}],"concepts":[{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.8402419686317444},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.683026909828186},{"id":"https://openalex.org/C117455697","wikidata":"https://www.wikidata.org/wiki/Q190149","display_name":"Photogrammetry","level":2,"score":0.6452032923698425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6110191345214844},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5344706177711487},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5267890095710754},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4694397449493408},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4609215259552002},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45555955171585083},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4116142988204956},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41059058904647827},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.33941975235939026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3283149003982544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21368005871772766},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2011680006980896},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11384415626525879},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11358559131622314},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0942302942276001},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0849662721157074},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2854967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2854967","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G432747032","display_name":null,"funder_award_id":"88881.136005/2016-01","funder_id":"https://openalex.org/F4320321091","funder_display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior"},{"id":"https://openalex.org/G7137790946","display_name":null,"funder_award_id":"308487/2017-6","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"}],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W94524670","https://openalex.org/W183089734","https://openalex.org/W202156266","https://openalex.org/W361148662","https://openalex.org/W1544032329","https://openalex.org/W1974590923","https://openalex.org/W2044493395","https://openalex.org/W2063472265","https://openalex.org/W2072698009","https://openalex.org/W2103128941","https://openalex.org/W2106078383","https://openalex.org/W2174323154","https://openalex.org/W2267012268","https://openalex.org/W2283031475","https://openalex.org/W2565076070","https://openalex.org/W4256149448","https://openalex.org/W6603849360","https://openalex.org/W6608173375"],"related_works":["https://openalex.org/W2365572566","https://openalex.org/W2394068580","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Most":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"nowadays":[4],"engage":[5],"in":[6,101,124,134,167,175,180],"coverage":[7],"missions":[8],"using":[9],"simple":[10],"patterns,":[11],"such":[12,112],"as":[13,113],"back-and-forth":[14],"and":[15,43,98,116,178,190,197],"spiral.":[16],"However,":[17],"there":[18],"is":[19,26],"no":[20],"general":[21],"agreement":[22],"about":[23],"which":[24],"one":[25],"more":[27,104],"appropriate.":[28],"This":[29],"letter":[30],"proposes":[31],"an":[32,60,81,129,171],"E-Spiral":[33,97,121,164],"algorithm":[34,58],"for":[35,68,83],"accurate":[36],"photogrammetry":[37],"that":[38,120],"considers":[39],"the":[40,44,49,54,72,75,84,89,93,126,135,146,160,163,176,181,188,191],"camera":[41],"sensor":[42],"flight":[45],"altitude":[46],"to":[47,52,63,87,145],"apply":[48],"overlapping":[50],"necessary":[51],"guarantee":[53],"mission":[55],"success.":[56],"The":[57,183],"uses":[59],"energy":[61,76,85,91,131,185,192],"model":[62,86,186],"set":[64],"different":[65,110],"optimal":[66],"speeds":[67],"straight":[69],"segments":[70],"of":[71,92,142,151,162,173,195],"path,":[73],"reducing":[74],"consumption.":[77],"We":[78,95],"also":[79],"propose":[80],"improvement":[82,141,172],"predict":[88],"overall":[90],"paths.":[94],"compare":[96],"E-BF":[99,123,166],"algorithms":[100],"simulations":[102],"over":[103,165],"than":[105],"3500":[106],"polygonal":[107],"areas":[108],"with":[109,138,149,156],"characteristics,":[111],"vertices,":[114],"irregularity,":[115],"size.":[117],"Results":[118],"showed":[119],"outperforms":[122],"all":[125],"cases,":[127],"providing":[128],"effective":[130],"saving":[132],"even":[133],"worst":[136],"scenario":[137],"a":[139,157],"percentage":[140],"10.37%":[143],"up":[144],"best":[147],"case":[148],"16.1%":[150],"improvement.":[152],"Real":[153],"flights":[154],"performed":[155],"quadrotor":[158],"state":[159],"effectiveness":[161],"two":[168],"areas,":[169],"presenting":[170],"9%":[174],"time":[177,189],"7.7%":[179],"energy.":[182],"improved":[184],"increases":[187],"estimation":[193],"precision":[194],"13.24%":[196],"13.41%,":[198],"respectively.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":38},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":34},{"year":2022,"cited_by_count":32},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}
