{"id":"https://openalex.org/W4400877292","doi":"https://doi.org/10.1109/taes.2024.3431513","title":"A Covariance-Based View Planning Algorithm for Aerial Robots With Decoupled Vision System","display_name":"A Covariance-Based View Planning Algorithm for Aerial Robots With Decoupled Vision System","publication_year":2024,"publication_date":"2024-07-22","ids":{"openalex":"https://openalex.org/W4400877292","doi":"https://doi.org/10.1109/taes.2024.3431513"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2024.3431513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3431513","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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/A5085524868","display_name":"Zhengyu Hua","orcid":"https://orcid.org/0000-0002-3029-9280"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhengyu Hua","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100660803","display_name":"Bowen Xu","orcid":"https://orcid.org/0009-0004-6968-0435"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Bowen Xu","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060935898","display_name":"Fengyu Quan","orcid":"https://orcid.org/0000-0002-9430-2450"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Quan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033737421","display_name":"Jiabi Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabi Sun","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072197068","display_name":"Haoyao Chen","orcid":"https://orcid.org/0000-0003-1652-9681"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyao Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5085524868"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.7548,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.78262658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"60","issue":"6","first_page":"8419","last_page":"8430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9966999888420105,"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":0.9781000018119812,"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/computer-vision","display_name":"Computer vision","score":0.6797986626625061},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6210914850234985},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5909813642501831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5520183444023132},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5487030148506165},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.4763867259025574},{"id":"https://openalex.org/keywords/robot-vision","display_name":"Robot vision","score":0.4530408978462219},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4415469765663147},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39516496658325195},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3372001349925995},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22223180532455444}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6797986626625061},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6210914850234985},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5909813642501831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5520183444023132},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5487030148506165},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.4763867259025574},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.4530408978462219},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4415469765663147},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39516496658325195},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3372001349925995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22223180532455444},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2024.3431513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3431513","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G122172205","display_name":null,"funder_award_id":"U21A20119","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3980671298","display_name":null,"funder_award_id":"U1713206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1605181360","https://openalex.org/W1680889242","https://openalex.org/W1977034420","https://openalex.org/W1989823960","https://openalex.org/W2006138321","https://openalex.org/W2025813574","https://openalex.org/W2028664813","https://openalex.org/W2056649556","https://openalex.org/W2119394765","https://openalex.org/W2133125644","https://openalex.org/W2139182243","https://openalex.org/W2150785194","https://openalex.org/W2163309052","https://openalex.org/W2246023205","https://openalex.org/W2299529128","https://openalex.org/W2413963660","https://openalex.org/W2465948386","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2891418445","https://openalex.org/W2962787639","https://openalex.org/W2963233640","https://openalex.org/W2969140976","https://openalex.org/W2980372936","https://openalex.org/W2993826828","https://openalex.org/W2998396005","https://openalex.org/W3008118845","https://openalex.org/W3089875479","https://openalex.org/W3090360675","https://openalex.org/W3091667825","https://openalex.org/W3107452320","https://openalex.org/W3129535824","https://openalex.org/W3144426752","https://openalex.org/W3207462752","https://openalex.org/W4231002530","https://openalex.org/W4293093447","https://openalex.org/W4295270881","https://openalex.org/W4313306306","https://openalex.org/W4377862790"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2318398720","https://openalex.org/W2072007712"],"abstract_inverted_index":{"The":[0],"precision":[1],"and":[2,60,122,126],"robustness":[3],"of":[4,63,135],"visual":[5,20,76,110,119],"odometry":[6,21,77,111,120],"tasks":[7],"for":[8,22,147],"aerial":[9,24],"robots":[10],"may":[11],"be":[12],"compromised":[13],"in":[14,108],"featureless":[15],"environments.":[16],"To":[17],"achieve":[18],"robust":[19],"micro":[23],"vehicles,":[25],"it":[26,45],"is":[27],"crucial":[28],"to":[29,69,73,102,117,131],"utilize":[30],"the":[31,55,61,75,87,90,100,133,148],"advantages":[32],"offered":[33],"by":[34,42,53],"a":[35,71],"decoupled":[36],"sensor":[37,58],"system":[38,101],"(e.g.,":[39],"gimbal":[40],"camera)":[41],"actively":[43,103],"controlling":[44],"based":[46],"on":[47],"perceptual":[48],"requirements.":[49],"In":[50],"this":[51],"article,":[52],"formulating":[54],"covariance":[56],"information,":[57],"visibility,":[59],"degree":[62],"exploration-exploitation":[64,82],"carefully,":[65],"we":[66],"are":[67,128],"able":[68],"build":[70],"model":[72],"evaluate":[74],"robustness,":[78],"namely,":[79],"covariance-based":[80],"feature":[81],"(CoFEE)":[83],"model.":[84],"Building":[85],"upon":[86],"CoFEE":[88],"model,":[89],"study":[91],"presents":[92],"an":[93,144],"active":[94],"perception":[95],"planning":[96],"algorithm":[97],"that":[98],"enables":[99],"navigate":[104],"toward":[105],"scenes":[106],"resulting":[107],"satisfactory":[109],"precision.":[112],"Implementing":[113],"these":[114],"solutions":[115],"leads":[116],"improved":[118],"quality":[121],"robustness.":[123],"Several":[124],"simulations":[125],"experiments":[127],"carried":[129],"out":[130],"validate":[132],"practicability":[134],"our":[136,141],"approach.":[137],"We":[138],"will":[139],"release":[140],"implementation":[142],"as":[143],"open-source":[145],"package":[146],"community.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
