{"id":"https://openalex.org/W4413925873","doi":"https://doi.org/10.1109/tase.2025.3605375","title":"HIGHSTAR: High-Speed and Efficient Online Autonomous UAV Exploration","display_name":"HIGHSTAR: High-Speed and Efficient Online Autonomous UAV Exploration","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4413925873","doi":"https://doi.org/10.1109/tase.2025.3605375"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3605375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3605375","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5090177069","display_name":"Qianli Dong","orcid":"https://orcid.org/0009-0002-3720-4501"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianli Dong","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0002-3720-4501","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025392915","display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5308-6539","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100622169","display_name":"Shiyong Zhang","orcid":"https://orcid.org/0000-0002-7255-9204"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyong Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7255-9204","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420925","display_name":"Ziyu Wang","orcid":"https://orcid.org/0009-0000-4641-5082"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyu Wang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068084061","display_name":"Zhe Ma","orcid":"https://orcid.org/0000-0001-6421-6925"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Ma","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017882556","display_name":"Tianyi Li","orcid":"https://orcid.org/0000-0002-9511-1058"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyi Li","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9511-1058","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114223920","display_name":"Haobo Xi","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haobo Xi","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, the Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":1.5311,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.8465482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"20770","last_page":"20787"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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":0.9972000122070312,"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":0.9968000054359436,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9577999711036682,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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-science","display_name":"Computer science","score":0.5383670330047607},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.5061351656913757},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37964633107185364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35254520177841187},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34543922543525696},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3379875123500824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2500723600387573}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5383670330047607},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.5061351656913757},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37964633107185364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35254520177841187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34543922543525696},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3379875123500824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2500723600387573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3605375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3605375","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4458009173","display_name":null,"funder_award_id":"2024M751526","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6733494552","display_name":null,"funder_award_id":"62293513/62293510","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7204253615","display_name":null,"funder_award_id":"62293510","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7440800273","display_name":null,"funder_award_id":"62293513","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1534304300","https://openalex.org/W2096268286","https://openalex.org/W2107667896","https://openalex.org/W2162991084","https://openalex.org/W2409009991","https://openalex.org/W2573758756","https://openalex.org/W2736958649","https://openalex.org/W2739036405","https://openalex.org/W2761373498","https://openalex.org/W2769990600","https://openalex.org/W2811158378","https://openalex.org/W2912372166","https://openalex.org/W2915903202","https://openalex.org/W2962787639","https://openalex.org/W2963054668","https://openalex.org/W2963080995","https://openalex.org/W2971269667","https://openalex.org/W2973864946","https://openalex.org/W2981562293","https://openalex.org/W2990376862","https://openalex.org/W3003718768","https://openalex.org/W3006305332","https://openalex.org/W3014910365","https://openalex.org/W3035218572","https://openalex.org/W3044306737","https://openalex.org/W3090360675","https://openalex.org/W3125164440","https://openalex.org/W3135798748","https://openalex.org/W3159537771","https://openalex.org/W3171589869","https://openalex.org/W3176634028","https://openalex.org/W3205357298","https://openalex.org/W3206681541","https://openalex.org/W3214825189","https://openalex.org/W4200079766","https://openalex.org/W4200433588","https://openalex.org/W4205677764","https://openalex.org/W4226146005","https://openalex.org/W4319302559","https://openalex.org/W4362698359","https://openalex.org/W4379382242","https://openalex.org/W4381232948","https://openalex.org/W4382119372","https://openalex.org/W4385151905","https://openalex.org/W4387197063","https://openalex.org/W4387448635","https://openalex.org/W4388043647","https://openalex.org/W4388983773","https://openalex.org/W4389666463","https://openalex.org/W4390423670","https://openalex.org/W4392222436","https://openalex.org/W4393864710","https://openalex.org/W4396910019","https://openalex.org/W4396941338","https://openalex.org/W4400275411","https://openalex.org/W4401414572","https://openalex.org/W4403182003","https://openalex.org/W4405785114","https://openalex.org/W4405785561","https://openalex.org/W4405785967","https://openalex.org/W4405800341","https://openalex.org/W4408092265"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W2076947815","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"are":[4],"widely":[5],"used":[6],"in":[7,44,127,149],"autonomous":[8,57],"exploration,":[9],"but":[10],"their":[11],"motion":[12,19,34,63,84,91,94],"speed":[13,154],"is":[14,69,131,145,164,171],"underutilized":[15],"due":[16],"to":[17,31,71,117],"inaccurate":[18],"time":[20,85,115],"cost":[21,86,100],"evaluation":[22,87],"and":[23,36,54,80,96,167],"high":[24],"computational":[25,99],"cost.":[26],"Existing":[27],"methods":[28],"either":[29],"fail":[30],"consider":[32],"UAV\u2019s":[33,77],"tendency":[35],"environment":[37],"simultaneously":[38],"or":[39],"can\u2019t":[40],"ensure":[41],"real-time":[42],"planning":[43],"large":[45],"3-D":[46],"environments.":[47],"This":[48],"paper":[49],"presents":[50],"a":[51,62,104,108,113,122,128],"consistent,":[52],"high-speed,":[53],"efficient":[55],"online":[56],"UAV":[58,162],"exploration":[59,143,169],"method.":[60],"First,":[61],"primitive":[64],"activated":[65],"graph":[66,106],"search":[67],"method":[68,187],"proposed":[70,159],"fully":[72],"take":[73],"advantage":[74],"of":[75,185],"the":[76,98,118,142,158],"current":[78],"velocity":[79,125,163],"acceleration.":[81],"It":[82],"improves":[83],"by":[88,101],"simulating":[89],"short-term":[90],"tendencies":[92],"with":[93,107,121,152],"primitives":[95],"reduces":[97],"searching":[102],"on":[103],"voxel":[105],"dynamic":[109],"upper":[110],"bound.":[111],"Then,":[112],"minimum":[114],"trajectory":[116,137],"optimal":[119],"viewpoint":[120],"non-zero":[123],"terminal":[124],"constraint":[126],"convex":[129],"hull":[130],"optimized.":[132,147],"Finally,":[133],"an":[134],"SE(3)":[135],"coverage":[136],"for":[138],"unknown":[139],"space":[140],"around":[141],"path":[144],"further":[146],"Simulations":[148],"various":[150],"environments":[151],"different":[153],"settings":[155],"show":[156],"that":[157],"method\u2019s":[160],"average":[161],"18.6%\u2212116.1%":[165],"faster":[166],"its":[168,180],"efficiency":[170],"13.8%\u221249.5%":[172],"higher":[173],"than":[174],"state-of-the-art":[175],"methods.":[176],"Real-world":[177],"tests":[178],"verify":[179],"effectiveness.":[181],"The":[182],"source":[183],"code":[184],"our":[186],"will":[188],"be":[189],"released":[190],"at:":[191],"https://github.com/NKU-MobFly-Robotics/HighStar.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}