{"id":"https://openalex.org/W4226146005","doi":"https://doi.org/10.1109/tim.2022.3158425","title":"Fast Active Aerial Exploration for Traversable Path Finding of Ground Robots in Unknown Environments","display_name":"Fast Active Aerial Exploration for Traversable Path Finding of Ground Robots in Unknown Environments","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4226146005","doi":"https://doi.org/10.1109/tim.2022.3158425"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3158425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3158425","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/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":["Tianjin Key Laboratory of Intelligent Robotics, 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":"Tianjin Key Laboratory of Intelligent Robotics, 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":["Tianjin Key Laboratory of Intelligent Robotics, 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":"Tianjin Key Laboratory of Intelligent Robotics, 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":["Tianjin Key Laboratory of Intelligent Robotics, 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":"Tianjin Key Laboratory of Intelligent Robotics, 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/A5037573848","display_name":"Jing Yuan","orcid":"https://orcid.org/0000-0001-5495-684X"},"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":"Jing Yuan","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5495-684X","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, 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/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"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":"Yongchun Fang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, 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":24.2451,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.9935809,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/robot","display_name":"Robot","score":0.7561464309692383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6812698841094971},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6076495051383972},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6072281002998352},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.5953004956245422},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5495733022689819},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5176594853401184},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5170615315437317},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.456973671913147},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4551210403442383},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45149654150009155},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.44971948862075806},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1980499029159546},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1127619743347168}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7561464309692383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6812698841094971},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6076495051383972},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6072281002998352},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.5953004956245422},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5495733022689819},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5176594853401184},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5170615315437317},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.456973671913147},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4551210403442383},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45149654150009155},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.44971948862075806},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1980499029159546},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1127619743347168},{"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/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/tim.2022.3158425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3158425","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3576858617","display_name":null,"funder_award_id":"19JCYBJC18500","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G7751105383","display_name":null,"funder_award_id":"19JCJQJC62100","funder_id":"https://openalex.org/F4320336823","funder_display_name":"Science Fund for Distinguished Young Scholars of Tianjin"},{"id":"https://openalex.org/G910453690","display_name":null,"funder_award_id":"2018YFB1307503","funder_id":"https://openalex.org/F4320327261","funder_display_name":"National Center for Research and Development"}],"funders":[{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null},{"id":"https://openalex.org/F4320327261","display_name":"National Center for Research and Development","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320336823","display_name":"Science Fund for Distinguished Young Scholars of Tianjin","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W626865218","https://openalex.org/W1990101796","https://openalex.org/W2069065333","https://openalex.org/W2076518796","https://openalex.org/W2107667896","https://openalex.org/W2136980446","https://openalex.org/W2140929789","https://openalex.org/W2167896722","https://openalex.org/W2169180499","https://openalex.org/W2169781427","https://openalex.org/W2293554285","https://openalex.org/W2471969791","https://openalex.org/W2507323042","https://openalex.org/W2552165419","https://openalex.org/W2562608436","https://openalex.org/W2565233142","https://openalex.org/W2571268510","https://openalex.org/W2753517974","https://openalex.org/W2766098635","https://openalex.org/W2771728020","https://openalex.org/W2786081609","https://openalex.org/W2905178987","https://openalex.org/W2915903202","https://openalex.org/W2916679149","https://openalex.org/W2955102332","https://openalex.org/W2963882535","https://openalex.org/W2965215408","https://openalex.org/W2967965957","https://openalex.org/W2967991056","https://openalex.org/W2981537955","https://openalex.org/W3003718768","https://openalex.org/W3003773262","https://openalex.org/W3024710878","https://openalex.org/W3035218572","https://openalex.org/W3099362956","https://openalex.org/W3105173974","https://openalex.org/W3110870077","https://openalex.org/W3125164440","https://openalex.org/W3132475407","https://openalex.org/W3134404704","https://openalex.org/W3134808094","https://openalex.org/W3168894416","https://openalex.org/W4200433588","https://openalex.org/W4236251699","https://openalex.org/W4253729359","https://openalex.org/W6695036305"],"related_works":["https://openalex.org/W4206733587","https://openalex.org/W2388951953","https://openalex.org/W2367640936","https://openalex.org/W3101748978","https://openalex.org/W2543684242","https://openalex.org/W2361811248","https://openalex.org/W4391252873","https://openalex.org/W2117893626","https://openalex.org/W2981213010","https://openalex.org/W3081191966"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"an":[3],"autonomous":[4,47],"aerial":[5,44,134,148],"exploration":[6,39,50],"framework":[7],"for":[8],"traversable":[9],"path":[10],"finding":[11],"of":[12,81,84,108,118,132,152,175,185],"ground":[13,63,136],"robots":[14,64,137],"in":[15,23,157,173],"unknown":[16],"environments":[17],"to":[18,142],"achieve":[19],"a":[20,36,68,95,123],"fast":[21,69],"response":[22,116,192],"search":[24],"and":[25,51,106,135,160,178],"rescue":[26],"(SAR)":[27],"missions.":[28],"Different":[29],"from":[30],"existing":[31,171],"works,":[32],"our":[33,153],"method":[34,169],"provides":[35],"task-oriented":[37],"active":[38],"strategy":[40],"that":[41,101,140,166],"makes":[42],"the":[43,49,59,79,82,90,109,114,119,129,133,167,191],"robot":[45,121],"fully":[46],"during":[48,147],"does":[52],"not":[53],"require":[54],"human":[55],"intervention.":[56],"To":[57,112],"identify":[58],"candidate":[60],"regions":[61],"which":[62,76],"can":[65,77,102],"go":[66],"through,":[67],"incremental":[70],"traversability":[71,80,91,176],"estimation":[72,177],"algorithm":[73,100],"is":[74,138,155],"presented,":[75],"evaluate":[78],"region":[83],"interest":[85],"(ROI)":[86],"efficiently.":[87],"Based":[88],"on":[89,198],"map,":[92],"we":[93],"propose":[94],"highly":[96],"efficient":[97],"frontier":[98,179],"detection":[99,180],"guarantee":[103],"both":[104,128,158],"reachability":[105],"safety":[107],"extracted":[110],"frontiers.":[111],"reduce":[113],"total":[115],"time":[117,130,181,193],"whole":[120],"system,":[122],"new":[124],"cost":[125],"function":[126],"considering":[127],"costs":[131],"designed":[139],"aims":[141],"avoid":[143],"back-and-forth":[144],"motion":[145],"behavior":[146],"exploration.":[149],"The":[150,163],"performance":[151],"approach":[154],"evaluated":[156],"simulation":[159],"real-world":[161],"experiments.":[162],"results":[164],"show":[165],"proposed":[168],"outperforms":[170],"methods":[172],"terms":[174],"(about":[182],"one":[183],"order":[184],"magnitude":[186],"faster)":[187],"as":[188,190],"well":[189],"(at":[194],"least":[195],"13%":[196],"shorter":[197],"average).":[199]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
