{"id":"https://openalex.org/W2157608279","doi":"https://doi.org/10.1177/0278364912461676","title":"Stochastic differential equation-based exploration algorithm for autonomous indoor 3D exploration with a micro-aerial vehicle","display_name":"Stochastic differential equation-based exploration algorithm for autonomous indoor 3D exploration with a micro-aerial vehicle","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2157608279","doi":"https://doi.org/10.1177/0278364912461676","mag":"2157608279"},"language":"en","primary_location":{"id":"doi:10.1177/0278364912461676","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912461676","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Michael","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001947944"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":11.3804,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.98561272,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"31","issue":"12","first_page":"1431","last_page":"1444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9918000102043152,"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":0.989300012588501,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.661879301071167},{"id":"https://openalex.org/keywords/stochastic-differential-equation","display_name":"Stochastic differential equation","score":0.63266521692276},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5657509565353394},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5486522316932678},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4682055115699768},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.45232874155044556},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4510738253593445},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.44834890961647034},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41026541590690613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32064345479011536},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24810323119163513},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.23055091500282288},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20396876335144043},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.16878026723861694}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.661879301071167},{"id":"https://openalex.org/C51955184","wikidata":"https://www.wikidata.org/wiki/Q1545585","display_name":"Stochastic differential equation","level":2,"score":0.63266521692276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5657509565353394},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5486522316932678},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4682055115699768},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.45232874155044556},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4510738253593445},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.44834890961647034},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41026541590690613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32064345479011536},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24810323119163513},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.23055091500282288},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20396876335144043},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.16878026723861694},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364912461676","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912461676","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-65349","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-65349","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-65349","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=0278-3649&rft.volume=31&rft.issue=12&rft.date=2012&rft.spage=1431&rft.aulast=Shen&rft.aufirst=&rft.atitle=Stochastic%20differential%20equation-based%20exploration%20algorithm%20for%20autonomous%20indoor%203d%20exploration%20with%20a%20micro-aerial%20vehicle&rft.title=International%20Journal%20of%20Robotics%20Research","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W105995943","https://openalex.org/W1684737195","https://openalex.org/W1805367571","https://openalex.org/W1991089232","https://openalex.org/W1996985406","https://openalex.org/W2012594493","https://openalex.org/W2031597354","https://openalex.org/W2033531509","https://openalex.org/W2034136660","https://openalex.org/W2046256869","https://openalex.org/W2091094332","https://openalex.org/W2107667896","https://openalex.org/W2108124163","https://openalex.org/W2109142140","https://openalex.org/W2112510830","https://openalex.org/W2114305748","https://openalex.org/W2119404509","https://openalex.org/W2136980446","https://openalex.org/W2137670671","https://openalex.org/W2142924305","https://openalex.org/W2152464086","https://openalex.org/W2155620850","https://openalex.org/W2156013594","https://openalex.org/W2165023100","https://openalex.org/W2165504132","https://openalex.org/W2171960444","https://openalex.org/W2336416123","https://openalex.org/W3150997492"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474","https://openalex.org/W2109516765","https://openalex.org/W2312786236","https://openalex.org/W4288094128"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,19,36,64,73],"stochastic":[6,65],"differential":[7,66],"equation-based":[8],"exploration":[9,13,58],"algorithm":[10],"to":[11,27,88,101,104],"enable":[12,105],"in":[14,122],"three-dimensional":[15],"indoor":[16,126],"environments":[17],"with":[18,77],"payload-constrained":[20],"micro-aerial":[21],"vehicle":[22],"(MAV).":[23],"We":[24,53],"are":[25],"able":[26],"address":[28],"computation,":[29],"memory,":[30],"and":[31,93,119,124],"sensor":[32],"limitations":[33],"by":[34],"using":[35],"map":[37],"representation":[38],"which":[39],"is":[40,114],"dense":[41],"for":[42,49,56],"the":[43,50,61,70,97,112],"known":[44],"occupied":[45],"space":[46],"but":[47],"sparse":[48],"free":[51],"space.":[52,90],"determine":[54],"regions":[55,81],"further":[57],"based":[59],"on":[60],"evolution":[62],"of":[63,72,75,82,111],"equation":[67],"that":[68],"simulates":[69],"expansion":[71,86],"system":[74],"particles":[76],"Newtonian":[78],"dynamics.":[79],"The":[80,109],"most":[83],"significant":[84],"particle":[85],"correlate":[87],"unexplored":[89],"After":[91],"identifying":[92],"processing":[94],"these":[95,102],"regions,":[96],"autonomous":[98,107],"MAV":[99],"navigates":[100],"locations":[103],"fully":[106],"exploration.":[108],"performance":[110],"approach":[113],"demonstrated":[115],"through":[116],"numerical":[117],"simulations":[118],"experimental":[120],"results":[121],"single-":[123],"multi-floor":[125],"experiments.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}