{"id":"https://openalex.org/W4387977141","doi":"https://doi.org/10.3390/robotics12060145","title":"Low-Cost Computer-Vision-Based Embedded Systems for UAVs","display_name":"Low-Cost Computer-Vision-Based Embedded Systems for UAVs","publication_year":2023,"publication_date":"2023-10-27","ids":{"openalex":"https://openalex.org/W4387977141","doi":"https://doi.org/10.3390/robotics12060145"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12060145","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060145","pdf_url":"https://www.mdpi.com/2218-6581/12/6/145/pdf?version=1698395012","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/6/145/pdf?version=1698395012","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102572023","display_name":"Luis D. Ortega","orcid":null},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Luis D. Ortega","raw_affiliation_strings":["Grupo de Investigaci\u00f3n de Aeron\u00e1utica y Termofluidos Aplicada, Departamento de Ingenier\u00eda Mec\u00e1nica, Escuela Polit\u00e9cnica Nacional, Av Ladr\u00f3n de Gevara E11-253, Quito 170525, Ecuador"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grupo de Investigaci\u00f3n de Aeron\u00e1utica y Termofluidos Aplicada, Departamento de Ingenier\u00eda Mec\u00e1nica, Escuela Polit\u00e9cnica Nacional, Av Ladr\u00f3n de Gevara E11-253, Quito 170525, Ecuador","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093132430","display_name":"Erick Loyaga","orcid":"https://orcid.org/0009-0009-1931-736X"},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Erick S. Loyaga","raw_affiliation_strings":["Grupo de Investigaci\u00f3n de Aeron\u00e1utica y Termofluidos Aplicada, Departamento de Ingenier\u00eda Mec\u00e1nica, Escuela Polit\u00e9cnica Nacional, Av Ladr\u00f3n de Gevara E11-253, Quito 170525, Ecuador"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grupo de Investigaci\u00f3n de Aeron\u00e1utica y Termofluidos Aplicada, Departamento de Ingenier\u00eda Mec\u00e1nica, Escuela Polit\u00e9cnica Nacional, Av Ladr\u00f3n de Gevara E11-253, Quito 170525, Ecuador","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064145650","display_name":"Patricio J. Cruz","orcid":"https://orcid.org/0000-0003-3026-7980"},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Patricio J. Cruz","raw_affiliation_strings":["Departamento de Automatizaci\u00f3n y Control Industrial, Facultadad de El\u00e9ctrica y Electr\u00f3nica, Escuela Polit\u00e9cnica Nacional, Quito 170525, Ecuador"],"raw_orcid":"https://orcid.org/0000-0003-3026-7980","affiliations":[{"raw_affiliation_string":"Departamento de Automatizaci\u00f3n y Control Industrial, Facultadad de El\u00e9ctrica y Electr\u00f3nica, Escuela Polit\u00e9cnica Nacional, Quito 170525, Ecuador","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051879521","display_name":"Henry Lema","orcid":"https://orcid.org/0000-0002-7246-6630"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Henry P. Lema","raw_affiliation_strings":["Department of Computer Science, Faculty of Engineering, University of Freiburg, Freiburg im Breisgau Georges-K\u00f6hler-Allee 106, 79110 Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7246-6630","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Faculty of Engineering, University of Freiburg, Freiburg im Breisgau Georges-K\u00f6hler-Allee 106, 79110 Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072526989","display_name":"Jackeline Abad Torres","orcid":"https://orcid.org/0000-0003-1767-1938"},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Jackeline Abad","raw_affiliation_strings":["Departamento de Automatizaci\u00f3n y Control Industrial, Facultadad de El\u00e9ctrica y Electr\u00f3nica, Escuela Polit\u00e9cnica Nacional, Quito 170525, Ecuador"],"raw_orcid":"https://orcid.org/0000-0003-1767-1938","affiliations":[{"raw_affiliation_string":"Departamento de Automatizaci\u00f3n y Control Industrial, Facultadad de El\u00e9ctrica y Electr\u00f3nica, Escuela Polit\u00e9cnica Nacional, Quito 170525, Ecuador","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069949532","display_name":"Esteban Valencia","orcid":"https://orcid.org/0000-0002-6496-9908"},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC"],"is_corresponding":true,"raw_author_name":"Esteban A. Valencia","raw_affiliation_strings":["Grupo de Investigaci\u00f3n de Aeron\u00e1utica y Termofluidos Aplicada, Departamento de Ingenier\u00eda Mec\u00e1nica, Escuela Polit\u00e9cnica Nacional, Av Ladr\u00f3n de Gevara E11-253, Quito 170525, Ecuador"],"raw_orcid":"https://orcid.org/0000-0002-6496-9908","affiliations":[{"raw_affiliation_string":"Grupo de Investigaci\u00f3n de Aeron\u00e1utica y Termofluidos Aplicada, Departamento de Ingenier\u00eda Mec\u00e1nica, Escuela Polit\u00e9cnica Nacional, Av Ladr\u00f3n de Gevara E11-253, Quito 170525, Ecuador","institution_ids":["https://openalex.org/I70764802"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5069949532"],"corresponding_institution_ids":["https://openalex.org/I70764802"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":11.3859,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.9785206,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"12","issue":"6","first_page":"145","last_page":"145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9986000061035156,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.7347017526626587},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.584018886089325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5547277331352234},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5388718247413635},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.48867204785346985},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4871194362640381},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.45228052139282227},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4437962770462036},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4337252080440521},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4170111119747162},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3498968780040741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27779507637023926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2755546569824219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27066564559936523},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15091434121131897},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.150610089302063},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10823357105255127}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.7347017526626587},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.584018886089325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5547277331352234},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5388718247413635},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.48867204785346985},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4871194362640381},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.45228052139282227},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4437962770462036},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4337252080440521},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4170111119747162},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3498968780040741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27779507637023926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2755546569824219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27066564559936523},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15091434121131897},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.150610089302063},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10823357105255127},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics12060145","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060145","pdf_url":"https://www.mdpi.com/2218-6581/12/6/145/pdf?version=1698395012","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0914795881784e3c93b824e6018df99f","is_oa":true,"landing_page_url":"https://doaj.org/article/0914795881784e3c93b824e6018df99f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 6, p 145 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics12060145","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060145","pdf_url":"https://www.mdpi.com/2218-6581/12/6/145/pdf?version=1698395012","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G5193286718","display_name":null,"funder_award_id":"PIGR 21-01","funder_id":"https://openalex.org/F4320327633","funder_display_name":"Escuela Polit\u00e9cnica Nacional"},{"id":"https://openalex.org/G8083562878","display_name":null,"funder_award_id":"PIM 21-01","funder_id":"https://openalex.org/F4320327633","funder_display_name":"Escuela Polit\u00e9cnica Nacional"}],"funders":[{"id":"https://openalex.org/F4320327633","display_name":"Escuela Polit\u00e9cnica Nacional","ror":"https://ror.org/01gb99w41"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387977141.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1929254535","https://openalex.org/W2007588648","https://openalex.org/W2039041067","https://openalex.org/W2047232995","https://openalex.org/W2071361688","https://openalex.org/W2072781714","https://openalex.org/W2085026516","https://openalex.org/W2085277287","https://openalex.org/W2110741028","https://openalex.org/W2117740102","https://openalex.org/W2147083891","https://openalex.org/W2148459919","https://openalex.org/W2154741421","https://openalex.org/W2242339332","https://openalex.org/W2522299681","https://openalex.org/W2582980081","https://openalex.org/W2587918125","https://openalex.org/W2618465491","https://openalex.org/W2734927016","https://openalex.org/W2890796858","https://openalex.org/W2899733220","https://openalex.org/W2909658472","https://openalex.org/W2933009286","https://openalex.org/W2960597313","https://openalex.org/W2963513677","https://openalex.org/W2976058213","https://openalex.org/W2991625383","https://openalex.org/W3081686796","https://openalex.org/W3111032617","https://openalex.org/W3120919096","https://openalex.org/W3141319448","https://openalex.org/W4297516128","https://openalex.org/W6751937089","https://openalex.org/W6760794080"],"related_works":["https://openalex.org/W4386328658","https://openalex.org/W3030867911","https://openalex.org/W4293070946","https://openalex.org/W4206409182","https://openalex.org/W4200049555","https://openalex.org/W2801877034","https://openalex.org/W3217144273","https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4,13],"versatile,":[5],"adapting":[6],"hardware":[7],"and":[8,44,83,108,116,140,147,164,172,199],"software":[9,115],"for":[10,15,191],"research.":[11],"They":[12],"vital":[14],"remote":[16,58],"monitoring,":[17],"especially":[18],"in":[19,46,151,158,180],"challenging":[20],"settings":[21],"such":[22],"as":[23],"volcano":[24],"observation":[25],"with":[26,154],"limited":[27],"access.":[28],"In":[29],"response,":[30],"economical":[31],"computer":[32],"vision":[33],"systems":[34,120,155],"provide":[35],"a":[36,89,124,129,137],"remedy":[37],"by":[38],"processing":[39],"data,":[40,72],"boosting":[41,200],"UAV":[42,75,93,182],"autonomy,":[43],"assisting":[45],"maneuvering.":[47],"Through":[48],"the":[49,105,134,177],"application":[50],"of":[51,160],"these":[52,119],"technologies,":[53],"researchers":[54],"can":[55],"effectively":[56],"monitor":[57],"areas,":[59],"thus":[60],"improving":[61],"surveillance":[62,78,201],"capabilities.":[63,202],"Moreover,":[64],"flight":[65],"controllers":[66],"employ":[67],"onboard":[68,132],"tools":[69],"to":[70,143],"gather":[71],"further":[73],"enhancing":[74],"navigation":[76],"during":[77,170],"tasks.":[79],"For":[80],"energy":[81],"efficiency":[82],"comprehensive":[84],"coverage,":[85,198],"this":[86,185],"paper":[87],"introduces":[88],"budget-friendly":[90],"prototype":[91,100,135],"aiding":[92],"navigation,":[94],"minimizing":[95],"effects":[96],"on":[97,123,128],"endurance.":[98],"The":[99,162],"prioritizes":[101],"improved":[102],"maneuvering":[103],"via":[104],"integrated":[106],"landing":[107,173],"obstacle":[109],"avoidance":[110],"system":[111],"(LOAS).":[112],"Employing":[113],"open-source":[114],"MAVLink":[117],"communication,":[118],"underwent":[121],"testing":[122],"Pixhawk-equipped":[125],"quadcopter.":[126],"Programmed":[127],"Raspberry":[130,165],"Pi":[131,166],"computer,":[133],"includes":[136],"distance":[138],"sensor":[139],"basic":[141],"camera":[142],"meet":[144],"low":[145],"computational":[146],"weight":[148],"demands.Tests":[149],"occurred":[150],"controlled":[152],"environments,":[153],"performing":[156],"well":[157],"90%":[159],"cases.":[161],"Pixhawk":[163],"documented":[167],"quad":[168],"actions":[169],"evasive":[171],"maneuvers.":[174],"Results":[175],"prove":[176],"prototype\u2019s":[178],"efficacy":[179],"refining":[181],"navigation.":[183],"Integrating":[184],"cost-effective,":[186],"energy-efficient":[187],"model":[188],"holds":[189],"promise":[190],"long-term":[192],"mission":[193],"enhancement\u2014cutting":[194],"costs,":[195],"expanding":[196],"terrain":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
