{"id":"https://openalex.org/W4404953345","doi":"https://doi.org/10.1109/ssrr62954.2024.10770060","title":"Navigating the Edge: UAS Boundary Tracing for Efficient Volcanic Plume Monitoring","display_name":"Navigating the Edge: UAS Boundary Tracing for Efficient Volcanic Plume Monitoring","publication_year":2024,"publication_date":"2024-11-12","ids":{"openalex":"https://openalex.org/W4404953345","doi":"https://doi.org/10.1109/ssrr62954.2024.10770060"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr62954.2024.10770060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr62954.2024.10770060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)","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/A5055820310","display_name":"John Ericksen","orcid":"https://orcid.org/0000-0002-5242-6578"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"John Ericksen","raw_affiliation_strings":["University of New Mexico,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Computer Science","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030095408","display_name":"Abir Islam","orcid":"https://orcid.org/0009-0002-8534-3186"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abir Islam","raw_affiliation_strings":["University of New Mexico,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Computer Science","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049843548","display_name":"C.A. Frost","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carter Frost","raw_affiliation_strings":["University of New Mexico,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Computer Science","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062980267","display_name":"K\u00e9vin Aubert","orcid":"https://orcid.org/0000-0001-5376-888X"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Aubert","raw_affiliation_strings":["University of New Mexico,Department of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Electrical Engineering","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059954596","display_name":"G. Matthew Fricke","orcid":"https://orcid.org/0000-0002-4466-8649"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Matthew Fricke","raw_affiliation_strings":["University of New Mexico,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Computer Science","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055553753","display_name":"Varsha Dani","orcid":"https://orcid.org/0009-0008-1651-1987"},"institutions":[{"id":"https://openalex.org/I155173764","display_name":"Rochester Institute of Technology","ror":"https://ror.org/00v4yb702","country_code":"US","type":"education","lineage":["https://openalex.org/I155173764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Varsha Dani","raw_affiliation_strings":["Rochester Institute of Technology,Computer Science Department"],"affiliations":[{"raw_affiliation_string":"Rochester Institute of Technology,Computer Science Department","institution_ids":["https://openalex.org/I155173764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["University of New Mexico,Department of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Electrical Engineering","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012014967","display_name":"Tobias P. Fischer","orcid":"https://orcid.org/0000-0002-3467-0649"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tobias Fischer","raw_affiliation_strings":["University of New Mexico,Earth and Planetary Sciences"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Earth and Planetary Sciences","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054086952","display_name":"Scott Nowicki","orcid":"https://orcid.org/0000-0002-9896-9869"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Nowicki","raw_affiliation_strings":["University of New Mexico,Earth and Planetary Sciences"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Earth and Planetary Sciences","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039997672","display_name":"Jared Saia","orcid":"https://orcid.org/0000-0002-3376-7334"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jared Saia","raw_affiliation_strings":["University of New Mexico,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Computer Science","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010797607","display_name":"Melanie E. Moses","orcid":"https://orcid.org/0000-0002-8848-9554"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Melanie Moses","raw_affiliation_strings":["University of New Mexico,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"University of New Mexico,Department of Computer Science","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5055820310"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25094201,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"52","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10466","display_name":"Meteorological Phenomena and Simulations","score":0.9760000109672546,"subfield":{"id":"https://openalex.org/subfields/1902","display_name":"Atmospheric Science"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10466","display_name":"Meteorological Phenomena and Simulations","score":0.9760000109672546,"subfield":{"id":"https://openalex.org/subfields/1902","display_name":"Atmospheric Science"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/plume","display_name":"Plume","score":0.6586707234382629},{"id":"https://openalex.org/keywords/volcano","display_name":"Volcano","score":0.6512643098831177},{"id":"https://openalex.org/keywords/tracing","display_name":"Tracing","score":0.6423707008361816},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5318372249603271},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4869190454483032},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.48607900738716125},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4722157120704651},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4615805745124817},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.24888095259666443},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.19588187336921692},{"id":"https://openalex.org/keywords/seismology","display_name":"Seismology","score":0.17148512601852417},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.135696142911911},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07432234287261963},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.055828988552093506}],"concepts":[{"id":"https://openalex.org/C2775840915","wikidata":"https://www.wikidata.org/wiki/Q3817528","display_name":"Plume","level":2,"score":0.6586707234382629},{"id":"https://openalex.org/C120806208","wikidata":"https://www.wikidata.org/wiki/Q8072","display_name":"Volcano","level":2,"score":0.6512643098831177},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.6423707008361816},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5318372249603271},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4869190454483032},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.48607900738716125},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4722157120704651},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4615805745124817},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.24888095259666443},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.19588187336921692},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.17148512601852417},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.135696142911911},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07432234287261963},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.055828988552093506},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr62954.2024.10770060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr62954.2024.10770060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W832321112","https://openalex.org/W2013232587","https://openalex.org/W2028344184","https://openalex.org/W2124299914","https://openalex.org/W2293554285","https://openalex.org/W2473712856","https://openalex.org/W2592226631","https://openalex.org/W2736863856","https://openalex.org/W2760670084","https://openalex.org/W2889731554","https://openalex.org/W2958231398","https://openalex.org/W3005863531","https://openalex.org/W3095745443","https://openalex.org/W3121094607","https://openalex.org/W3122848436","https://openalex.org/W3206795908","https://openalex.org/W4307210228","https://openalex.org/W4328007770","https://openalex.org/W4377971933","https://openalex.org/W4385579656","https://openalex.org/W4387987009","https://openalex.org/W4389402792","https://openalex.org/W4399121820","https://openalex.org/W4401595014","https://openalex.org/W6729658977","https://openalex.org/W6809645209","https://openalex.org/W6853159187"],"related_works":["https://openalex.org/W2015942778","https://openalex.org/W2026298489","https://openalex.org/W1563829372","https://openalex.org/W4226032835","https://openalex.org/W233199609","https://openalex.org/W2067389099","https://openalex.org/W2897695555","https://openalex.org/W2045980676","https://openalex.org/W2307588283","https://openalex.org/W1964263177"],"abstract_inverted_index":{"We":[0,88],"present":[1],"the":[2,19,41,53,77,85,90,121,170,181],"implementation":[3,78],"and":[4,29,52,99,126,139,152,172,192],"validation":[5],"of":[6,21,79,92,174],"Sketch,":[7],"an":[8],"algorithm":[9,107,114],"that":[10,119],"uses":[11],"two":[12],"Unpiloted":[13],"Aerial":[14],"Systems":[15],"(UASs)":[16],"to":[17,70,110],"trace":[18],"boundary":[20,43],"volcanic":[22,159,177],"plumes.":[23,105],"Sketchguarantees":[24],"asymptotically":[25],"optimal":[26],"flight":[27,62,135],"distance":[28],"turning":[30],"by":[31,45,124],"maintaining":[32],"a":[33,46,81,111,155],"sandwich":[34],"invariant":[35],"where":[36],"one":[37],"UAS":[38,55,83],"stays":[39,56],"inside":[40],"plume":[42,150,160,178],"(defined":[44],"<tex":[47,185],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[48,68,186],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\textbf{CO}_{2}$</tex>":[49],"concentration":[50],"threshold)":[51],"other":[54],"outside.":[57],"The":[58,106],"UASs":[59],"adjust":[60],"their":[61],"paths":[63],"based":[64],"on":[65],"real-time":[66,158,176],"CO<inf":[67],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</inf>measurements":[69],"maintain":[71],"this":[72],"invariant.":[73],"This":[74],"paper":[75],"details":[76],"Sketchon":[80],"real-world":[82,100],"platform,":[84],"Dragonfly":[86],"drone.":[87],"evaluate":[89],"efficacy":[91,173],"Sketchthrough":[93],"extensive":[94],"testing":[95],"in":[96,148,164,190],"physics-based":[97],"simulations":[98],"outdoor":[101],"environments":[102],"using":[103],"virtual":[104],"is":[108,128],"compared":[109],"single-UAS":[112],"baseline":[113],"called":[115],"Zigzag.":[116],"Results":[117],"show":[118],"Sketchmeets":[120],"expectations":[122],"set":[123],"theory,":[125],"it":[127],"more":[129,156],"efficient":[130,157],"than":[131],"Zigzag,":[132],"achieving":[133],"shorter":[134],"paths,":[136],"less":[137],"turning,":[138],"faster":[140],"mapping":[141],"times.":[142],"While":[143],"Zigzagexhibits":[144],"slightly":[145],"higher":[146],"accuracy":[147],"estimating":[149],"area":[151],"boundary,":[153],"Sketchoffers":[154],"monitoring":[161],"approach,":[162],"especially":[163],"time-sensitive":[165],"situations.":[166],"These":[167],"results":[168],"demonstrate":[169],"feasibility":[171],"Sketchfor":[175],"monitoring,":[179],"paving":[180],"way":[182],"for":[183],"accurate":[184],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\textbf{CO}_2$</tex>":[187],"emission":[188],"estimation":[189],"hazardous":[191],"challenging":[193],"environments.":[194]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
