{"id":"https://openalex.org/W3004100999","doi":"https://doi.org/10.1109/lra.2020.2969935","title":"Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments","display_name":"Dronument: System for Reliable Deployment of Micro Aerial Vehicles in Dark Areas of Large Historical Monuments","publication_year":2020,"publication_date":"2020-01-28","ids":{"openalex":"https://openalex.org/W3004100999","doi":"https://doi.org/10.1109/lra.2020.2969935","mag":"3004100999"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2969935","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969935","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.02976","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088273964","display_name":"Pavel Petr\u00e1\u010dek","orcid":"https://orcid.org/0000-0002-0887-9430"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Pavel Petracek","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Prague 2"],"raw_orcid":"https://orcid.org/0000-0002-0887-9430","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Prague 2","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075195189","display_name":"V\u00edt Kr\u00e1tk\u00fd","orcid":"https://orcid.org/0000-0002-1914-742X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vit Kratky","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Prague 2"],"raw_orcid":"https://orcid.org/0000-0002-1914-742X","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Prague 2","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Prague 2"],"raw_orcid":"https://orcid.org/0000-0001-7106-3816","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Prague 2","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5088273964"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":40.7094,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99494512,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"2078","last_page":"2085"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9927999973297119,"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/software-deployment","display_name":"Software deployment","score":0.8353956937789917},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6616263389587402},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5695297718048096},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5608901977539062},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5234158039093018},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5229744911193848},{"id":"https://openalex.org/keywords/documentation","display_name":"Documentation","score":0.47430920600891113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3843153715133667},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09492966532707214}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.8353956937789917},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6616263389587402},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5695297718048096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5608901977539062},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5234158039093018},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5229744911193848},{"id":"https://openalex.org/C56666940","wikidata":"https://www.wikidata.org/wiki/Q788790","display_name":"Documentation","level":2,"score":0.47430920600891113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3843153715133667},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09492966532707214},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2969935","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969935","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"},{"id":"pmh:oai:arXiv.org:2303.02976","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.02976","pdf_url":"https://arxiv.org/pdf/2303.02976","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.02976","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.02976","pdf_url":"https://arxiv.org/pdf/2303.02976","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6800000071525574,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5038496234","display_name":null,"funder_award_id":"17-16900Y","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G8548244988","display_name":null,"funder_award_id":"SGS17/187/OHK3/3T/13","funder_id":"https://openalex.org/F4320309972","funder_display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze"}],"funders":[{"id":"https://openalex.org/F4320309972","display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze","ror":"https://ror.org/03kqpb082"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3004100999.pdf","grobid_xml":"https://content.openalex.org/works/W3004100999.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1963792193","https://openalex.org/W1989706283","https://openalex.org/W2025981716","https://openalex.org/W2152864241","https://openalex.org/W2162729570","https://openalex.org/W2183445688","https://openalex.org/W2196988974","https://openalex.org/W2293216667","https://openalex.org/W2336416123","https://openalex.org/W2510520096","https://openalex.org/W2525640293","https://openalex.org/W2535547924","https://openalex.org/W2564944959","https://openalex.org/W2608018532","https://openalex.org/W2615271539","https://openalex.org/W2620780412","https://openalex.org/W2744119056","https://openalex.org/W2764251455","https://openalex.org/W2766127076","https://openalex.org/W2767381775","https://openalex.org/W2767428201","https://openalex.org/W2780924480","https://openalex.org/W2783320076","https://openalex.org/W2787809376","https://openalex.org/W2808797110","https://openalex.org/W2908603664","https://openalex.org/W2909686384","https://openalex.org/W2938818630","https://openalex.org/W2968140007","https://openalex.org/W2968489055","https://openalex.org/W3004195199","https://openalex.org/W3102327032","https://openalex.org/W3105397082","https://openalex.org/W4233290410","https://openalex.org/W6684321233","https://openalex.org/W6687948265","https://openalex.org/W6745122088"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2618286804","https://openalex.org/W2566006169","https://openalex.org/W2987774938","https://openalex.org/W4256492088","https://openalex.org/W2329643025","https://openalex.org/W632915154","https://openalex.org/W2055733372"],"abstract_inverted_index":{"This":[0,115],"letter":[1],"presents":[2],"a":[3,40,47,83,90,111,153,160],"self-contained":[4],"system":[5,146,182],"for":[6,30],"robust":[7],"deployment":[8,118],"of":[9,35,82,92,122,144,155,180,187],"autonomous":[10],"aerial":[11,44,156,168],"vehicles":[12],"in":[13,32,55,63,119,170,183],"environments":[14],"without":[15],"access":[16],"to":[17,52,130,176],"global":[18],"navigation":[19],"systems":[20],"and":[21,42,163],"with":[22,46,58,89,138],"limited":[23],"lighting":[24,60],"conditions.":[25],"The":[26,71,100,142],"proposed":[27],"system,":[28],"application-tailored":[29],"documentation":[31],"dark":[33],"areas":[34,57,64],"large":[36],"historical":[37,84,188],"monuments,":[38],"uses":[39],"unique":[41],"reliable":[43],"platform":[45,169],"multi-modal":[48],"lightweight":[49],"sensory":[50],"setup":[51],"acquire":[53],"data":[54,132],"human-restricted":[56],"adverse":[59],"conditions,":[61],"especially":[62],"that":[65],"are":[66],"high":[67],"above":[68],"the":[69,120,145,167,171,178,181,184],"ground.":[70],"introduced":[72],"localization":[73],"method":[74],"relies":[75],"on":[76,105,110,152],"an":[77,135],"easy-to-obtain":[78],"3-D":[79],"point":[80],"cloud":[81],"building,":[85],"while":[86,125],"it":[87],"copes":[88],"lack":[91],"visible":[93],"light":[94],"by":[95],"fusing":[96],"active":[97],"laser-based":[98],"sensors.":[99],"approach":[101],"does":[102],"not":[103],"rely":[104],"any":[106],"external":[107],"localization,":[108],"or":[109],"preset":[112],"motion-capture":[113],"system.":[114],"enables":[116],"fast":[117],"interiors":[121],"investigated":[123],"structures":[124],"being":[126],"computationally":[127],"undemanding":[128],"enough":[129],"process":[131],"online,":[133],"onboard":[134],"MAV":[136],"equipped":[137],"ordinary":[139],"processing":[140],"resources.":[141],"reliability":[143,179],"is":[147,149,164],"analyzed,":[148],"quantitatively":[150],"evaluated":[151],"set":[154],"trajectories":[157],"performed":[158],"inside":[159],"real-world":[161],"church,":[162],"deployed":[165],"onto":[166],"position":[172],"control":[173],"feedback":[174],"loop":[175],"demonstrate":[177],"safety-critical":[185],"application":[186],"monuments":[189],"documentation.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2020-02-07T00:00:00"}