{"id":"https://openalex.org/W4288391488","doi":"https://doi.org/10.1109/lra.2022.3194686","title":"Sweep-Your-Map: Efficient Coverage Planning for Aerial Teams in Large-Scale Environments","display_name":"Sweep-Your-Map: Efficient Coverage Planning for Aerial Teams in Large-Scale Environments","publication_year":2022,"publication_date":"2022-07-28","ids":{"openalex":"https://openalex.org/W4288391488","doi":"https://doi.org/10.1109/lra.2022.3194686"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3194686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3194686","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://zaguan.unizar.es/record/168182","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045889311","display_name":"David Morilla-Cabello","orcid":"https://orcid.org/0000-0002-7315-8138"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"David Morilla-Cabello","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":"https://orcid.org/0000-0002-7315-8138","affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033387778","display_name":"Luca Bartolomei","orcid":"https://orcid.org/0000-0002-4329-8711"},"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":"Luca Bartolomei","raw_affiliation_strings":["Vision for Robotics Lab, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4329-8711","affiliations":[{"raw_affiliation_string":"Vision for Robotics Lab, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080227679","display_name":"Lucas Teixeira","orcid":"https://orcid.org/0000-0002-3192-827X"},"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":"Lucas Teixeira","raw_affiliation_strings":["Vision for Robotics Lab, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3192-827X","affiliations":[{"raw_affiliation_string":"Vision for Robotics Lab, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010149148","display_name":"Eduardo Montijano","orcid":"https://orcid.org/0000-0002-5176-3767"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduardo Montijano","raw_affiliation_strings":["Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain"],"raw_orcid":"https://orcid.org/0000-0002-5176-3767","affiliations":[{"raw_affiliation_string":"Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055582765","display_name":"Margarita Chli","orcid":"https://orcid.org/0000-0001-5611-7492"},"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":"Margarita Chli","raw_affiliation_strings":["Vision for Robotics Lab, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-5611-7492","affiliations":[{"raw_affiliation_string":"Vision for Robotics Lab, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 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":7.3409,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96263632,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"10810","last_page":"10817"},"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/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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7164511680603027},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7093091011047363},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6125425696372986},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6059914827346802},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5416043996810913},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5140355825424194},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5126856565475464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5016217231750488},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4876810312271118},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.44746196269989014},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4400077164173126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4281705915927887},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38952112197875977},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14288678765296936},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08733460307121277}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7164511680603027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7093091011047363},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6125425696372986},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6059914827346802},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5416043996810913},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5140355825424194},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5126856565475464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5016217231750488},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4876810312271118},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.44746196269989014},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4400077164173126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4281705915927887},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38952112197875977},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14288678765296936},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08733460307121277},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2022.3194686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3194686","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:zaguan.unizar.es:168182","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/168182","pdf_url":null,"source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/560340","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/560340","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"IEEE Robotics and Automation Letters, 7 (4)","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.3929/ethz-b-000560340","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000560340","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:zaguan.unizar.es:168182","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/168182","pdf_url":null,"source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7099999785423279,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G3578167914","display_name":null,"funder_award_id":"N62909-19-1-2027","funder_id":"https://openalex.org/F4320338298","funder_display_name":"Office of Naval Research Global"},{"id":"https://openalex.org/G472378907","display_name":"Collaborative Vision-based Perception, Towards Intellingent Robotic Teams","funder_award_id":"183720","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320316620","display_name":"Amazon Catalyst","ror":"https://ror.org/04mv4n011"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null},{"id":"https://openalex.org/F4320338298","display_name":"Office of Naval Research Global","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1972624884","https://openalex.org/W2107667896","https://openalex.org/W2161123599","https://openalex.org/W2409009991","https://openalex.org/W2495871221","https://openalex.org/W2607968634","https://openalex.org/W2617643478","https://openalex.org/W2769990600","https://openalex.org/W2792588379","https://openalex.org/W2902410914","https://openalex.org/W2914616910","https://openalex.org/W2947525982","https://openalex.org/W2962787639","https://openalex.org/W2963054668","https://openalex.org/W2973864946","https://openalex.org/W3000500950","https://openalex.org/W3100948105","https://openalex.org/W3102129812","https://openalex.org/W3120561889","https://openalex.org/W3125164440","https://openalex.org/W3152691130","https://openalex.org/W3172407388","https://openalex.org/W3194521805","https://openalex.org/W4205677764","https://openalex.org/W4285102272","https://openalex.org/W6774815639"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4327774218","https://openalex.org/W3206445629","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4379143281","https://openalex.org/W2366039691"],"abstract_inverted_index":{"The":[0],"efficiency":[1,156],"of":[2,51,66,75,97,109,115,126,150,155],"path-planning":[3],"in":[4,9,71,153,160],"robot":[5],"navigation":[6],"is":[7,19],"crucial":[8],"tasks":[10],"such":[11],"as":[12],"search-and-rescue":[13],"and":[14,33,85,128,146],"disaster":[15],"surveying,":[16],"but":[17],"this":[18,37,39,107],"emphasized":[20],"even":[21],"more":[22],"when":[23],"considering":[24],"multi-rotor":[25],"aerial":[26],"robots":[27],"due":[28],"to":[29,46,101,106,122],"the":[30,67,76,95,110,120,148],"limited":[31],"battery":[32],"flight":[34],"time.":[35],"In":[36],"spirit,":[38],"work":[40],"proposes":[41],"an":[42,59,123],"efficient,":[43],"hierarchical":[44],"planner":[45],"achieve":[47],"comprehensive":[48],"visual":[49],"coverage":[50,159],"large-scale":[52],"outdoor":[53],"scenarios":[54],"for":[55,144,157],"small":[56],"drones.":[57],"Following":[58],"initial":[60],"reconnaissance":[61],"flight,":[62],"a":[63,88,113,130,141],"coarse":[64],"map":[65,77,111],"scene":[68],"gets":[69],"built":[70],"real-time.":[72],"Then,":[73],"regions":[74],"that":[78,93],"were":[79],"not":[80],"appropriately":[81],"observed":[82],"are":[83],"identified":[84],"grouped":[86],"by":[87],"novel":[89],"perception-aware":[90],"clustering":[91],"process":[92],"enables":[94],"generation":[96],"continuous":[98],"trajectories":[99],"(sweeps)":[100],"cover":[102],"them":[103],"efficiently.":[104],"Thanks":[105],"partitioning":[108],"into":[112],"set":[114],"tasks,":[116],"we":[117],"can":[118],"generalize":[119],"planning":[121],"arbitrary":[124],"number":[125],"drones":[127],"perform":[129],"well-balanced":[131],"workload":[132],"distribution":[133],"among":[134],"them.":[135],"We":[136],"compare":[137],"our":[138,151],"approach":[139],"against":[140],"state-of-the-art":[142],"method":[143],"exploration":[145],"show":[147],"advantages":[149],"pipeline":[152],"terms":[154],"obtaining":[158],"large":[161],"environments.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}