{"id":"https://openalex.org/W2991285418","doi":"https://doi.org/10.1109/smc.2019.8914330","title":"Coverage optimization in the Cooperative Surveillance Task using Multiple Micro Aerial Vehicles","display_name":"Coverage optimization in the Cooperative Surveillance Task using Multiple Micro Aerial Vehicles","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2991285418","doi":"https://doi.org/10.1109/smc.2019.8914330","mag":"2991285418"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2019.8914330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","raw_type":"proceedings-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/A5059220416","display_name":"Mat\u011bj Petrl\u00edk","orcid":"https://orcid.org/0000-0002-5337-9558"},"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":"Matej Petrlik","raw_affiliation_strings":["Dept. of Cybernetics, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Dept. of Cybernetics, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"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":"Vojtech Vonasek","raw_affiliation_strings":["Dept. of Cybernetics, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Dept. of Cybernetics, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic","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":["Dept. of Cybernetics, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Dept. of Cybernetics, Czech Technical University in Prague, Technicka 2, 166 27, Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059220416"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.8098,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.77782925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"abs 1612 2065","issue":null,"first_page":"4373","last_page":"4380"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9995999932289124,"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":0.9994999766349792,"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/global-positioning-system","display_name":"Global Positioning System","score":0.6524671912193298},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6450126767158508},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.639240026473999},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5590770840644836},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5408092737197876},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5004892349243164},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.49041032791137695},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.481733113527298},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47027236223220825},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.46976447105407715},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.44624584913253784},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44357430934906006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27546271681785583},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22180089354515076},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.20439618825912476},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19140616059303284},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11187231540679932},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09285140037536621}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6524671912193298},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6450126767158508},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.639240026473999},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5590770840644836},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5408092737197876},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5004892349243164},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.49041032791137695},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.481733113527298},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47027236223220825},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.46976447105407715},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.44624584913253784},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44357430934906006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27546271681785583},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22180089354515076},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.20439618825912476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19140616059303284},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11187231540679932},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09285140037536621},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2019.8914330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W160562721","https://openalex.org/W171569338","https://openalex.org/W1549307772","https://openalex.org/W1987206750","https://openalex.org/W1993688584","https://openalex.org/W2041759448","https://openalex.org/W2057658519","https://openalex.org/W2063489934","https://openalex.org/W2136517076","https://openalex.org/W2137520043","https://openalex.org/W2139273714","https://openalex.org/W2152195021","https://openalex.org/W2161190864","https://openalex.org/W2342740524","https://openalex.org/W2543580944","https://openalex.org/W2560518031","https://openalex.org/W2736422478","https://openalex.org/W2898070459","https://openalex.org/W4231697670","https://openalex.org/W6730445190"],"related_works":["https://openalex.org/W3162200841","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159","https://openalex.org/W2393169196","https://openalex.org/W2366610330","https://openalex.org/W1550496571","https://openalex.org/W2118356379"],"abstract_inverted_index":{"In":[0],"the":[1,32,41,56,69,88,92,112,149,170,185,226],"task":[2,110],"of":[3,17,19,40,48,87,111,121,156,216,222],"cooperative":[4],"surveillance":[5],"using":[6,190],"Micro":[7],"Aerial":[8],"Vehicles":[9],"(MAVs),":[10],"MAVs":[11,57,122],"cooperatively":[12],"observe":[13],"a":[14,28,73,130,154],"given":[15,93],"set":[16],"Areas":[18],"Interest":[20],"(AoI).":[21],"The":[22,46,109,136,166,195,207],"missions":[23],"are":[24,35,188],"usually":[25],"prepared":[26],"in":[27,58,91,201,214],"decoupled":[29],"manner:":[30],"first,":[31],"sensing":[33,176,186],"locations":[34,177,187],"found,":[36],"followed":[37],"by":[38],"computations":[39],"trajectories":[42,128,181],"assuming":[43],"GPS-based":[44],"localization.":[45],"precision":[47],"GPS":[49],"may,":[50],"however,":[51],"be":[52,79,104,146],"insufficient":[53],"to":[54,64,78,84,95,103,116,132,145,173],"keep":[55],"compact":[59],"groups,":[60],"which":[61],"may":[62],"lead":[63],"mutual":[65],"collisions.":[66],"To":[67],"avoid":[68],"collisions":[70],"between":[71],"MAVs,":[72],"camera-based":[74],"on-board":[75,98,137],"localization":[76,99,138],"has":[77,102,198],"used.":[80],"This":[81],"however":[82],"requires":[83],"maintain":[85],"positions":[86],"team":[89],"members":[90],"range":[94],"enable":[96],"reliable":[97],"(each":[100],"MAV":[101,141],"visible":[105],"from":[106,129],"other":[107],"ones).":[108],"mission":[113,164],"planning":[114],"is":[115],"find":[117,174],"an":[118],"appropriate":[119],"distribution":[120],"above":[123],"AoIs":[124],"together":[125,178],"with":[126,179],"feasible":[127,180],"depot":[131],"reach":[133],"these":[134],"locations.":[135],"constraints":[139,143],"and":[140,204,220],"motion":[142],"have":[144],"satisfied":[147],"during":[148],"entire":[150],"mission.":[151],"We":[152],"propose":[153],"modification":[155],"RRT":[157],"(Rapidly":[158],"Exploring":[159],"Random":[160],"Tree)":[161],"for":[162],"this":[163],"planning.":[165],"algorithm":[167],"first":[168],"explores":[169],"state":[171],"space":[172],"suitable":[175],"towards":[182],"them.":[183],"Then,":[184],"optimized":[189],"Particle":[191],"Swarm":[192],"optimization":[193],"(PSO).":[194],"proposed":[196],"method":[197],"been":[199],"verified":[200],"numerous":[202],"simulations":[203],"outdoor":[205],"experiments.":[206],"achieved":[208],"results":[209],"exhibit":[210],"significantly":[211],"better":[212],"performance":[213],"terms":[215],"lower":[217],"computational":[218],"power":[219],"complexity":[221],"solved":[223],"scenarios":[224],"than":[225],"state-of-the-art":[227],"solutions.":[228]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}