{"id":"https://openalex.org/W4408423714","doi":"https://doi.org/10.1109/tmc.2025.3551362","title":"Jointly-Optimized Trajectory Generation and Camera Control for 3D Coverage Planning","display_name":"Jointly-Optimized Trajectory Generation and Camera Control for 3D Coverage Planning","publication_year":2025,"publication_date":"2025-03-14","ids":{"openalex":"https://openalex.org/W4408423714","doi":"https://doi.org/10.1109/tmc.2025.3551362"},"language":"en","primary_location":{"id":"doi:10.1109/tmc.2025.3551362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2025.3551362","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2504.05887","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008276252","display_name":"Savvas Papaioannou","orcid":"https://orcid.org/0000-0003-3149-4202"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Savvas Papaioannou","raw_affiliation_strings":["KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus"],"raw_orcid":"https://orcid.org/0000-0003-3149-4202","affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005033255","display_name":"Panayiotis Kolios","orcid":"https://orcid.org/0000-0003-3981-993X"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Panayiotis Kolios","raw_affiliation_strings":["KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus"],"raw_orcid":"https://orcid.org/0000-0003-3981-993X","affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041366767","display_name":"Theocharis Theocharides","orcid":"https://orcid.org/0000-0001-7222-9152"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Theocharis Theocharides","raw_affiliation_strings":["KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus"],"raw_orcid":"https://orcid.org/0000-0001-7222-9152","affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073317773","display_name":"Christos G. Panayiotou","orcid":"https://orcid.org/0000-0002-6476-9025"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Christos G. Panayiotou","raw_affiliation_strings":["KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus"],"raw_orcid":"https://orcid.org/0000-0002-6476-9025","affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089297277","display_name":"Marios M. Polycarpou","orcid":"https://orcid.org/0000-0001-6495-9171"},"institutions":[{"id":"https://openalex.org/I34771391","display_name":"University of Cyprus","ror":"https://ror.org/02qjrjx09","country_code":"CY","type":"education","lineage":["https://openalex.org/I34771391"]}],"countries":["CY"],"is_corresponding":false,"raw_author_name":"Marios M. Polycarpou","raw_affiliation_strings":["KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus"],"raw_orcid":"https://orcid.org/0000-0001-6495-9171","affiliations":[{"raw_affiliation_string":"KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]},{"raw_affiliation_string":"University of Cyprus, KIOS Research and Innovation Centre of Excellence (KIOS CoE) and the Department of Electrical and Computer Engineering, Nicosia, Cyprus","institution_ids":["https://openalex.org/I34771391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I34771391"],"apc_list":null,"apc_paid":null,"fwci":1.5311,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81012386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"24","issue":"8","first_page":"7519","last_page":"7537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9876999855041504,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9781000018119812,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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":0.8130898475646973},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.657279372215271},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4841121435165405},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45086297392845154},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42905062437057495},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4033159911632538},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3957377076148987},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3764238953590393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08845701813697815}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8130898475646973},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.657279372215271},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4841121435165405},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45086297392845154},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42905062437057495},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4033159911632538},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3957377076148987},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3764238953590393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08845701813697815},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tmc.2025.3551362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2025.3551362","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2504.05887","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.05887","pdf_url":"https://arxiv.org/pdf/2504.05887","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2504.05887","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2504.05887","pdf_url":"https://arxiv.org/pdf/2504.05887","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1552314173","display_name":null,"funder_award_id":"2016-2020","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320310476","display_name":"Bundesministerium f\u00fcr Verkehr und Digitale Infrastruktur","ror":"https://ror.org/00e3ns026"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320330084","display_name":"Research and Innovation Foundation","ror":null},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4408423714.pdf","grobid_xml":"https://content.openalex.org/works/W4408423714.grobid-xml"},"referenced_works_count":83,"referenced_works":["https://openalex.org/W83093243","https://openalex.org/W1006554450","https://openalex.org/W1559528524","https://openalex.org/W1633229921","https://openalex.org/W1936177838","https://openalex.org/W2001127546","https://openalex.org/W2002827932","https://openalex.org/W2015598453","https://openalex.org/W2019738489","https://openalex.org/W2025402019","https://openalex.org/W2056422961","https://openalex.org/W2057124904","https://openalex.org/W2093385687","https://openalex.org/W2105848344","https://openalex.org/W2119520055","https://openalex.org/W2142792228","https://openalex.org/W2150658022","https://openalex.org/W2163947939","https://openalex.org/W2283031475","https://openalex.org/W2326840316","https://openalex.org/W2551331110","https://openalex.org/W2558152615","https://openalex.org/W2568042060","https://openalex.org/W2584306035","https://openalex.org/W2785685252","https://openalex.org/W2890073142","https://openalex.org/W2892432523","https://openalex.org/W2900724751","https://openalex.org/W2906764419","https://openalex.org/W2913657094","https://openalex.org/W2953880153","https://openalex.org/W2956901944","https://openalex.org/W2963061782","https://openalex.org/W2967656750","https://openalex.org/W2968419219","https://openalex.org/W2973118834","https://openalex.org/W2997177875","https://openalex.org/W3000637312","https://openalex.org/W3010961334","https://openalex.org/W3011231347","https://openalex.org/W3012218358","https://openalex.org/W3024598418","https://openalex.org/W3044306737","https://openalex.org/W3046246880","https://openalex.org/W3083893133","https://openalex.org/W3089893234","https://openalex.org/W3090573937","https://openalex.org/W3091993904","https://openalex.org/W3102552428","https://openalex.org/W3106779726","https://openalex.org/W3109907338","https://openalex.org/W3119389125","https://openalex.org/W3128433320","https://openalex.org/W3130412487","https://openalex.org/W3131727203","https://openalex.org/W3172086257","https://openalex.org/W3185176790","https://openalex.org/W3190433992","https://openalex.org/W3197167612","https://openalex.org/W3198914541","https://openalex.org/W3205360279","https://openalex.org/W3215794882","https://openalex.org/W4200331569","https://openalex.org/W4205268283","https://openalex.org/W4225278370","https://openalex.org/W4226270744","https://openalex.org/W4288047754","https://openalex.org/W4293093447","https://openalex.org/W4296436740","https://openalex.org/W4308731068","https://openalex.org/W4312995842","https://openalex.org/W4315488869","https://openalex.org/W4320713326","https://openalex.org/W4377008028","https://openalex.org/W4380903712","https://openalex.org/W4382050528","https://openalex.org/W4385232244","https://openalex.org/W4394868196","https://openalex.org/W4394973724","https://openalex.org/W4402351256","https://openalex.org/W6600413971","https://openalex.org/W6736142671","https://openalex.org/W6747827861"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"This":[0,97],"work":[1],"proposes":[2],"a":[3,40,57,114],"jointly":[4,54],"optimized":[5,55],"trajectory":[6],"generation":[7,101],"and":[8,29,49,120,128],"camera":[9,50],"control":[10,51,118],"approach,":[11],"enabling":[12],"an":[13,18],"autonomous":[14],"agent,":[15],"such":[16],"as":[17,113],"unmanned":[19],"aerial":[20],"vehicle":[21],"(UAV)":[22],"operating":[23],"in":[24],"3D":[25,41,64],"environments,":[26],"to":[27,61,78],"plan":[28],"execute":[30],"coverage":[31,65,105,108],"trajectories":[32],"that":[33],"maximally":[34],"cover":[35],"the":[36,46,67,75,80,87,91,94,100,132,135],"surface":[37],"area":[38],"of":[39,43,66,82,90,102,134],"object":[42,92],"interest.":[44],"Specifically,":[45],"UAV's":[47,95],"kinematic":[48],"inputs":[52],"are":[53],"over":[56],"rolling":[58,115],"planning":[59,76,109],"horizon":[60],"achieve":[62],"complete":[63],"object.":[68],"The":[69,107],"proposed":[70,136],"controller":[71],"incorporates":[72],"ray-tracing":[73],"into":[74],"process":[77],"simulate":[79],"propagation":[81],"light":[83],"rays,":[84],"thereby":[85],"determining":[86],"visible":[88],"parts":[89],"through":[93],"camera.":[96],"integration":[98],"enables":[99],"precise":[103],"look-ahead":[104],"trajectories.":[106],"problem":[110,119],"is":[111],"formulated":[112],"finite-horizon":[116],"optimal":[117],"solved":[121],"using":[122],"mixed-integer":[123],"programming":[124],"techniques.":[125],"Extensive":[126],"real-world":[127],"synthetic":[129],"experiments":[130],"validate":[131],"performance":[133],"approach.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
