{"id":"https://openalex.org/W4416214727","doi":"https://doi.org/10.1109/lra.2025.3632728","title":"Entropy-Based Incremental Coverage Path Planning for Multi-UAV Persistent Monitoring","display_name":"Entropy-Based Incremental Coverage Path Planning for Multi-UAV Persistent Monitoring","publication_year":2025,"publication_date":"2025-11-14","ids":{"openalex":"https://openalex.org/W4416214727","doi":"https://doi.org/10.1109/lra.2025.3632728"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3632728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632728","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/A5003046951","display_name":"Cai Luo","orcid":"https://orcid.org/0000-0002-9288-7723"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Cai Luo","raw_affiliation_strings":["College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China"],"affiliations":[{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lijun Wang","orcid":"https://orcid.org/0009-0006-4421-1004"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Wang","raw_affiliation_strings":["College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China"],"affiliations":[{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081749291","display_name":"Jiucai Jin","orcid":"https://orcid.org/0000-0002-4425-5297"},"institutions":[{"id":"https://openalex.org/I211433327","display_name":"Ministry of Natural Resources","ror":"https://ror.org/02kxqx159","country_code":"CN","type":"government","lineage":["https://openalex.org/I211433327","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I4210114556","display_name":"First Institute of Oceanography","ror":"https://ror.org/01y34t753","country_code":"CN","type":"facility","lineage":["https://openalex.org/I211433327","https://openalex.org/I4210114556","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiucai Jin","raw_affiliation_strings":["First Institute of Oceanography, Ministry of Natural Resources, Qingdao, China"],"affiliations":[{"raw_affiliation_string":"First Institute of Oceanography, Ministry of Natural Resources, Qingdao, China","institution_ids":["https://openalex.org/I4210114556","https://openalex.org/I211433327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013993798","display_name":"Zhenpeng Du","orcid":"https://orcid.org/0000-0002-0207-3006"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenpeng Du","raw_affiliation_strings":["Department of Computer Science, University of Exeter, Exeter, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Exeter, Exeter, U.K","institution_ids":["https://openalex.org/I23923803"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100607639","display_name":"Wang Miao","orcid":"https://orcid.org/0000-0002-7941-2715"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wang Miao","raw_affiliation_strings":["Department of Computer Science, University of Exeter, Exeter, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Exeter, Exeter, U.K","institution_ids":["https://openalex.org/I23923803"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5003046951"],"corresponding_institution_ids":["https://openalex.org/I4210162190"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26311871,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"378","last_page":"385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12316","display_name":"Oil Spill Detection and Mitigation","score":0.28200000524520874,"subfield":{"id":"https://openalex.org/subfields/2310","display_name":"Pollution"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12316","display_name":"Oil Spill Detection and Mitigation","score":0.28200000524520874,"subfield":{"id":"https://openalex.org/subfields/2310","display_name":"Pollution"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.17319999635219574,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.13030000030994415,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/oil-spill","display_name":"Oil spill","score":0.6894999742507935},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5419999957084656},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.4115000069141388},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.39879998564720154},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.37929999828338623},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.3578999936580658}],"concepts":[{"id":"https://openalex.org/C2985668151","wikidata":"https://www.wikidata.org/wiki/Q220187","display_name":"Oil spill","level":2,"score":0.6894999742507935},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5419999957084656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4706000089645386},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.4377000033855438},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.4115000069141388},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.39879998564720154},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.37929999828338623},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3578999936580658},{"id":"https://openalex.org/C3017997152","wikidata":"https://www.wikidata.org/wiki/Q814610","display_name":"Emergency response","level":2,"score":0.35409998893737793},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33169999718666077},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.30140000581741333},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C548895740","wikidata":"https://www.wikidata.org/wiki/Q22656","display_name":"Petroleum","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3632728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632728","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":[],"awards":[{"id":"https://openalex.org/G1873015260","display_name":null,"funder_award_id":"EP/Y036786/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G2999070280","display_name":null,"funder_award_id":"101129910","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1758545843","https://openalex.org/W2019738489","https://openalex.org/W2288289931","https://openalex.org/W2745151765","https://openalex.org/W2751385606","https://openalex.org/W2883952496","https://openalex.org/W2885876653","https://openalex.org/W2906764419","https://openalex.org/W2973773508","https://openalex.org/W2999428357","https://openalex.org/W3095180121","https://openalex.org/W3097963854","https://openalex.org/W3126240556","https://openalex.org/W3159659024","https://openalex.org/W3168368261","https://openalex.org/W3187092794","https://openalex.org/W3206085775","https://openalex.org/W3206197245","https://openalex.org/W4280496735","https://openalex.org/W4285211583","https://openalex.org/W4292382488","https://openalex.org/W4360995166","https://openalex.org/W4391216232","https://openalex.org/W4392439330","https://openalex.org/W4406311328"],"related_works":[],"abstract_inverted_index":{"Oil":[0],"spills":[1],"continuously":[2,23],"affect":[3],"marine":[4],"ecosystems":[5],"and":[6,25,107,133],"require":[7],"rapid":[8],"monitoring":[9,21,43,88],"for":[10,22],"effective":[11],"emergency":[12],"response.":[13],"This":[14],"letter":[15],"tackles":[16],"the":[17,105,151],"problem":[18],"of":[19,109],"persistent":[20],"changing":[24],"scattered":[26,70],"oil":[27,57,71,86,138],"spill":[28,58,72,87,131,139],"regions":[29,98],"through":[30,95],"Entropy":[31],"Based":[32],"Incremental":[33],"Coverage":[34],"Path":[35],"Planning":[36],"(EICPP).":[37],"By":[38],"using":[39],"contour":[40],"comparison":[41],"between":[42],"cycles,":[44],"an":[45],"incremental":[46],"coverage":[47,153],"mechanism":[48],"is":[49,66],"first":[50],"introduced":[51],"to":[52,68],"focus":[53],"on":[54,136],"newly":[55],"emerged":[56],"regions.":[59],"Then,":[60],"a":[61],"balanced":[62],"region":[63],"division":[64],"algorithm":[65],"incorporated":[67],"handle":[69],"areas":[73],"while":[74,148],"ensuring":[75],"equal":[76],"workload":[77],"distribution":[78],"among":[79],"UAVs.":[80],"The":[81],"entropy-based":[82],"path":[83],"planning":[84],"enhances":[85],"effectiveness":[89,108],"by":[90],"Drift":[91],"Information":[92],"Freshness":[93],"(DIF)":[94],"prioritizing":[96],"high-entropy":[97],"under":[99],"limited":[100],"UAV":[101],"resources.":[102],"We":[103],"evaluate":[104],"robustness":[106],"our":[110],"method":[111,116],"across":[112,129],"multiple":[113],"scenarios.":[114],"Our":[115],"demonstrates":[117],"clear":[118],"advantages":[119],"in":[120],"DIF,":[121],"achieving":[122],"19":[123],"25%":[124],"improvements":[125],"over":[126],"strong":[127],"baselines":[128],"different":[130],"scales":[132],"about":[134],"19.6\u201324%":[135],"real-world":[137],"datasets.":[140],"It":[141],"also":[142],"substantially":[143],"reduces":[144],"total":[145],"flight":[146],"distance":[147],"consistently":[149],"satisfying":[150],"90%":[152],"requirement.":[154]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-14T00:00:00"}