{"id":"https://openalex.org/W4281968164","doi":"https://doi.org/10.3390/rs14112584","title":"Perception-Aware Planning for Active SLAM in Dynamic Environments","display_name":"Perception-Aware Planning for Active SLAM in Dynamic Environments","publication_year":2022,"publication_date":"2022-05-27","ids":{"openalex":"https://openalex.org/W4281968164","doi":"https://doi.org/10.3390/rs14112584"},"language":"en","primary_location":{"id":"doi:10.3390/rs14112584","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14112584","pdf_url":"https://www.mdpi.com/2072-4292/14/11/2584/pdf?version=1653657847","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/14/11/2584/pdf?version=1653657847","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009318707","display_name":"Yao Zhao","orcid":"https://orcid.org/0000-0001-9370-7934"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Zhao","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"],"raw_orcid":"https://orcid.org/0000-0001-9370-7934","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101991764","display_name":"Zhi Xiong","orcid":"https://orcid.org/0000-0002-8709-6150"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhi Xiong","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032497720","display_name":"Shuailin Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuailin Zhou","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014563246","display_name":"Jingqi Wang","orcid":"https://orcid.org/0000-0002-3754-762X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingqi Wang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450721","display_name":"Ling Zhang","orcid":"https://orcid.org/0000-0001-8206-3408"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ling Zhang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001678286","display_name":"Pascual Campoy","orcid":"https://orcid.org/0000-0002-9894-2009"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pascual Campoy","raw_affiliation_strings":["Computer Vision and Aerial Robotics Group, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-9894-2009","affiliations":[{"raw_affiliation_string":"Computer Vision and Aerial Robotics Group, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101991764"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2784},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2784},"fwci":1.7816,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.85818357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"14","issue":"11","first_page":"2584","last_page":"2584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9998000264167786,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9948999881744385,"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/waypoint","display_name":"Waypoint","score":0.8550679683685303},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7245331406593323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7199735045433044},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6808000802993774},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6022230982780457},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.6012858152389526},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4515012800693512},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44404321908950806},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4242750108242035},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37315836548805237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3617039918899536},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32410651445388794},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28365620970726013},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.25464415550231934},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13624736666679382}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.8550679683685303},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7245331406593323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7199735045433044},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6808000802993774},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6022230982780457},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.6012858152389526},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4515012800693512},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44404321908950806},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4242750108242035},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37315836548805237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3617039918899536},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32410651445388794},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28365620970726013},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25464415550231934},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13624736666679382},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs14112584","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14112584","pdf_url":"https://www.mdpi.com/2072-4292/14/11/2584/pdf?version=1653657847","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:95820427f1ec47268e8a0c6e6c52e02f","is_oa":false,"landing_page_url":"https://doaj.org/article/95820427f1ec47268e8a0c6e6c52e02f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 14, Iss 11, p 2584 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/11/2584/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14112584","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Remote Sensing; Volume 14; Issue 11; Pages: 2584","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14112584","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14112584","pdf_url":"https://www.mdpi.com/2072-4292/14/11/2584/pdf?version=1653657847","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G168539802","display_name":null,"funder_award_id":"SAST2019-085","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G1747103732","display_name":null,"funder_award_id":"G20200010142","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2089753663","display_name":null,"funder_award_id":"ASFC-2020Z071052001","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G2268901082","display_name":null,"funder_award_id":"NZ2020004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2389763948","display_name":null,"funder_award_id":"62073163","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G2394886934","display_name":null,"funder_award_id":"SAST2019-085","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G333224948","display_name":null,"funder_award_id":"SAST2019-085","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G3344642631","display_name":null,"funder_award_id":"B20007","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G3746129224","display_name":null,"funder_award_id":"ASFC-2020Z071052001","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G3891744496","display_name":null,"funder_award_id":"NZ2020004","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G3991192480","display_name":null,"funder_award_id":"62073163","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3996748697","display_name":null,"funder_award_id":"NZ2020004","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4008810729","display_name":null,"funder_award_id":"61873125","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G4095088250","display_name":null,"funder_award_id":"NZ2020004","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G4427439428","display_name":null,"funder_award_id":"B20007","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G5461345968","display_name":null,"funder_award_id":"B20007","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G5934795343","display_name":null,"funder_award_id":"62073163","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G6170512811","display_name":null,"funder_award_id":"ASFC-2020Z071052001","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G6763682123","display_name":null,"funder_award_id":"G20200010142","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G6790553123","display_name":null,"funder_award_id":"BK20181291","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G6925538764","display_name":null,"funder_award_id":"G20200010142","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G69963784","display_name":null,"funder_award_id":"BK20181291","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G7319532869","display_name":null,"funder_award_id":"61873125","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7344683990","display_name":null,"funder_award_id":"NZ2020004","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G7766969738","display_name":null,"funder_award_id":"B20007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7789744453","display_name":null,"funder_award_id":"61873125","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G7806313306","display_name":null,"funder_award_id":"62073163","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"},{"id":"https://openalex.org/G7839200488","display_name":null,"funder_award_id":"G20200010142","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G8007445796","display_name":null,"funder_award_id":"BK20181291","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8327163707","display_name":null,"funder_award_id":"SAST2019-085","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8698537186","display_name":null,"funder_award_id":"BK20181291","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G8838052602","display_name":null,"funder_award_id":"ASFC-2020Z071052001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8897804994","display_name":null,"funder_award_id":"61873125","funder_id":"https://openalex.org/F4320327472","funder_display_name":"Chinese Aeronautical Establishment"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320327472","display_name":"Chinese Aeronautical Establishment","ror":null},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"id":"https://openalex.org/F4320330207","display_name":"Shanghai Aerospace Science and Technology Innovation Foundation","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4281968164.pdf","grobid_xml":"https://content.openalex.org/works/W4281968164.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W2019738489","https://openalex.org/W2087387266","https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2153631760","https://openalex.org/W2167340365","https://openalex.org/W2409009991","https://openalex.org/W2465948386","https://openalex.org/W2564632156","https://openalex.org/W2588617943","https://openalex.org/W2593212030","https://openalex.org/W2739036405","https://openalex.org/W2744253785","https://openalex.org/W2745859992","https://openalex.org/W2786135092","https://openalex.org/W2797589308","https://openalex.org/W2804333790","https://openalex.org/W2811158378","https://openalex.org/W2889942734","https://openalex.org/W2891418445","https://openalex.org/W2892378191","https://openalex.org/W2907172124","https://openalex.org/W2947097103","https://openalex.org/W2958287405","https://openalex.org/W2969140976","https://openalex.org/W2973864946","https://openalex.org/W3006305332","https://openalex.org/W3012528573","https://openalex.org/W3043971245","https://openalex.org/W3044306737","https://openalex.org/W3047628358","https://openalex.org/W3089716481","https://openalex.org/W3098770085","https://openalex.org/W3100948105","https://openalex.org/W3134969093","https://openalex.org/W3135496326","https://openalex.org/W3146766514","https://openalex.org/W3158536236","https://openalex.org/W3159537771","https://openalex.org/W3161383968","https://openalex.org/W3173615794","https://openalex.org/W3183413118","https://openalex.org/W3205542554","https://openalex.org/W4210366105","https://openalex.org/W4211037083"],"related_works":["https://openalex.org/W2773440449","https://openalex.org/W3176873138","https://openalex.org/W1597099033","https://openalex.org/W4300972232","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W3119736302","https://openalex.org/W4379780406","https://openalex.org/W3200041777","https://openalex.org/W3006894944"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,113,141],"perception-aware":[4],"path":[5],"planner":[6,19,40],"for":[7],"active":[8,26],"SLAM":[9,59],"in":[10,50,154,158],"dynamic":[11,48,144,155],"environments":[12,52],"using":[13],"micro-aerial":[14],"vehicles":[15],"(MAV).":[16],"The":[17,39,80,95,120],"\u201cNext-Best-View\u201d":[18],"(NBVP":[20],"planner)":[21],"is":[22,30,41,73,93,118,148],"combined":[23],"with":[24],"an":[25],"loop":[27,90,107],"closing,":[28],"which":[29],"called":[31],"the":[32,55,58,64,69,77,85,89,99,103,106,136,166,169],"Active":[33],"Loop":[34],"Closing":[35],"Planner":[36],"(ALCP":[37],"planner).":[38],"proposed":[42,170],"to":[43,75,134,150,164],"avoid":[44],"both":[45],"static":[46],"and":[47,61,88],"obstacles":[49],"unknown":[51],"while":[53,102],"reducing":[54],"uncertainty":[56],"of":[57,66,125,168],"system":[60],"further":[62],"improving":[63],"accuracy":[65],"localization.":[67],"First,":[68],"receding":[70],"horizon":[71],"strategy":[72,117],"adopted":[74,149],"find":[76],"next":[78],"waypoint.":[79],"cost":[81],"function":[82],"that":[83],"combines":[84],"exploration":[86],"gain":[87,92],"closing":[91,108],"designed.":[94,119],"former":[96],"can":[97],"reduce":[98],"mapping":[100],"uncertainty,":[101],"latter":[104],"takes":[105],"possibility":[109],"into":[110],"consideration.":[111],"Second,":[112],"key":[114,122],"waypoint":[115],"selection":[116],"selected":[121],"waypoints,":[123,127],"instead":[124],"all":[126],"are":[128,162],"treated":[129],"as":[130],"potential":[131],"loop-closing":[132],"points":[133],"make":[135],"algorithm":[137,147],"more":[138],"efficient.":[139],"Moreover,":[140],"fuzzy":[142],"RRT-based":[143],"obstacle":[145,152],"avoidance":[146,153],"realize":[151],"environments.":[156],"Simulations":[157],"different":[159],"challenging":[160],"scenarios":[161],"conducted":[163],"verify":[165],"effectiveness":[167],"algorithm.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2022-06-13T00:00:00"}
