{"id":"https://openalex.org/W3045587304","doi":"https://doi.org/10.23919/acc45564.2020.9147537","title":"Energy-Optimal Tours for Quadrotors to Scan Moth-Infested Trees in Densely-Packed Forests","display_name":"Energy-Optimal Tours for Quadrotors to Scan Moth-Infested Trees in Densely-Packed Forests","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045587304","doi":"https://doi.org/10.23919/acc45564.2020.9147537","mag":"3045587304"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9147537","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147537","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-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/A5033545973","display_name":"Christoph Aoun","orcid":null},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Christoph Aoun","raw_affiliation_strings":["Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049264238","display_name":"Elie Shammas","orcid":"https://orcid.org/0000-0002-3604-334X"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Elie Shammas","raw_affiliation_strings":["Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010140692","display_name":"Naseem Daher","orcid":"https://orcid.org/0000-0002-3292-0261"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Naseem Daher","raw_affiliation_strings":["Department of Electrical and Computer Engineering, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033545973"],"corresponding_institution_ids":["https://openalex.org/I98635879"],"apc_list":null,"apc_paid":null,"fwci":0.3908,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61396787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"58","last_page":"63"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.866599977016449,"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":0.866599977016449,"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/T11691","display_name":"Forest Insect Ecology and Management","score":0.7960000038146973,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7843999862670898,"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/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.8138341903686523},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6278393268585205},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5704184770584106},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5253816843032837},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5215537548065186},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5197176933288574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4879421591758728},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4714566171169281},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4540896415710449},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.327094167470932},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.170303076505661},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14320826530456543}],"concepts":[{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.8138341903686523},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6278393268585205},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5704184770584106},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5253816843032837},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5215537548065186},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5197176933288574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4879421591758728},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4714566171169281},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4540896415710449},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.327094167470932},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.170303076505661},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14320826530456543},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc45564.2020.9147537","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147537","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W181528823","https://openalex.org/W1578401881","https://openalex.org/W1977346877","https://openalex.org/W2002508249","https://openalex.org/W2092481826","https://openalex.org/W2124488712","https://openalex.org/W2149416133","https://openalex.org/W2414661092","https://openalex.org/W2468618434","https://openalex.org/W2536747409","https://openalex.org/W2753576362","https://openalex.org/W2798000375","https://openalex.org/W2805397692","https://openalex.org/W2939391664","https://openalex.org/W3010649139","https://openalex.org/W4399382066","https://openalex.org/W6634711357"],"related_works":["https://openalex.org/W1525389557","https://openalex.org/W2361554335","https://openalex.org/W2359992618","https://openalex.org/W2164188042","https://openalex.org/W4306878646","https://openalex.org/W2054495636","https://openalex.org/W2046552997","https://openalex.org/W2913191894","https://openalex.org/W4389782626","https://openalex.org/W4376138746"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"optimal":[3,57],"control":[4],"theory":[5],"is":[6,41,63,68,75,87],"used":[7],"to":[8,54,89],"generate":[9],"energy-optimal":[10],"tree-to-tree":[11],"routes":[12],"by":[13,101],"taking":[14],"into":[15],"account":[16],"the":[17,20,24,29,56,78,91,99,103],"map":[18,74],"of":[19,35,98,105,107],"forest":[21],"environment":[22],"and":[23,43,93],"quadrotor's":[25],"dynamics.":[26],"After":[27],"computing":[28],"energy":[30],"consumption":[31],"between":[32],"all":[33],"pairs":[34],"trees,":[36],"a":[37,96,108],"Travelling":[38],"Salesman":[39],"Problem":[40],"formulated":[42],"solved":[44],"using":[45],"Integer":[46],"Linear":[47],"Programming":[48],"along":[49],"with":[50],"Sub-Tour":[51],"Elimination":[52],"Constraints":[53],"determine":[55],"global":[58],"route.":[59],"The":[60],"first":[61,79],"scan":[62],"not":[64],"only":[65,94],"time-optimal":[66],"but":[67],"also":[69],"complete.":[70],"Thus,":[71],"an":[72,84],"infection":[73,106],"established":[76],"after":[77],"scan.":[80],"For":[81],"subsequent":[82],"scans,":[83],"online":[85],"solution":[86],"proposed":[88],"update":[90],"path-planner":[92],"include":[95],"subset":[97],"trees":[100],"considering":[102],"probability":[104],"tree":[109],"based":[110],"on":[111],"neighboring":[112],"trees.":[113]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}