{"id":"https://openalex.org/W3026862992","doi":"https://doi.org/10.3390/s20102926","title":"Collective Perception Using UAVs: Autonomous Aerial Reconnaissance in a Complex Urban Environment","display_name":"Collective Perception Using UAVs: Autonomous Aerial Reconnaissance in a Complex Urban Environment","publication_year":2020,"publication_date":"2020-05-21","ids":{"openalex":"https://openalex.org/W3026862992","doi":"https://doi.org/10.3390/s20102926","mag":"3026862992","pmid":"https://pubmed.ncbi.nlm.nih.gov/32455719"},"language":"en","primary_location":{"id":"doi:10.3390/s20102926","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20102926","pdf_url":"https://www.mdpi.com/1424-8220/20/10/2926/pdf?version=1590486076","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/20/10/2926/pdf?version=1590486076","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055360490","display_name":"Petr Stodola","orcid":"https://orcid.org/0000-0002-2251-8711"},"institutions":[{"id":"https://openalex.org/I96415178","display_name":"University of Defence","ror":"https://ror.org/04arkmn57","country_code":"CZ","type":"education","lineage":["https://openalex.org/I96415178"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Petr Stodola","raw_affiliation_strings":["Department of Intelligence Support, University of Defence, 66210 Brno, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-2251-8711","affiliations":[{"raw_affiliation_string":"Department of Intelligence Support, University of Defence, 66210 Brno, Czech Republic","institution_ids":["https://openalex.org/I96415178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044030206","display_name":"Jan Drozd","orcid":"https://orcid.org/0000-0003-3257-0473"},"institutions":[{"id":"https://openalex.org/I96415178","display_name":"University of Defence","ror":"https://ror.org/04arkmn57","country_code":"CZ","type":"education","lineage":["https://openalex.org/I96415178"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Jan Drozd","raw_affiliation_strings":["Department of Tactics, University of Defence, 66210 Brno, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0003-3257-0473","affiliations":[{"raw_affiliation_string":"Department of Tactics, University of Defence, 66210 Brno, Czech Republic","institution_ids":["https://openalex.org/I96415178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030045158","display_name":"Karel \u0160ilinger","orcid":"https://orcid.org/0000-0001-5509-3118"},"institutions":[{"id":"https://openalex.org/I96415178","display_name":"University of Defence","ror":"https://ror.org/04arkmn57","country_code":"CZ","type":"education","lineage":["https://openalex.org/I96415178"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Karel \u0160ilinger","raw_affiliation_strings":["Department of Fire Support, University of Defence, 66210 Brno, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-5509-3118","affiliations":[{"raw_affiliation_string":"Department of Fire Support, University of Defence, 66210 Brno, Czech Republic","institution_ids":["https://openalex.org/I96415178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056968159","display_name":"Jan Hodick\u00fd","orcid":"https://orcid.org/0000-0003-3396-6285"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Hodick\u00fd","raw_affiliation_strings":["NATO Headquarters Supreme Allied Commander Transformation, Norfolk, VA 23551, USA"],"raw_orcid":"https://orcid.org/0000-0003-3396-6285","affiliations":[{"raw_affiliation_string":"NATO Headquarters Supreme Allied Commander Transformation, Norfolk, VA 23551, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067231215","display_name":"Dalibor Proch\u00e1zka","orcid":"https://orcid.org/0000-0002-6601-0012"},"institutions":[{"id":"https://openalex.org/I96415178","display_name":"University of Defence","ror":"https://ror.org/04arkmn57","country_code":"CZ","type":"education","lineage":["https://openalex.org/I96415178"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Dalibor Proch\u00e1zka","raw_affiliation_strings":["Centre for Security and Military Strategic Studies, University of Defence, 66210 Brno, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-6601-0012","affiliations":[{"raw_affiliation_string":"Centre for Security and Military Strategic Studies, University of Defence, 66210 Brno, Czech Republic","institution_ids":["https://openalex.org/I96415178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5055360490"],"corresponding_institution_ids":["https://openalex.org/I96415178"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.1746,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.8106364,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"20","issue":"10","first_page":"2926","last_page":"2926"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9994999766349792,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/terrain","display_name":"Terrain","score":0.698697566986084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6405113339424133},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5935669541358948},{"id":"https://openalex.org/keywords/urban-environment","display_name":"Urban environment","score":0.5318762063980103},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5131338238716125},{"id":"https://openalex.org/keywords/point-of-interest","display_name":"Point of interest","score":0.4606251120567322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4550550580024719},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.423492968082428},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4060937762260437},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.13274985551834106},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1300722360610962},{"id":"https://openalex.org/keywords/environmental-planning","display_name":"Environmental planning","score":0.07887968420982361}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.698697566986084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6405113339424133},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5935669541358948},{"id":"https://openalex.org/C2986162411","wikidata":"https://www.wikidata.org/wiki/Q702492","display_name":"Urban environment","level":2,"score":0.5318762063980103},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5131338238716125},{"id":"https://openalex.org/C150140777","wikidata":"https://www.wikidata.org/wiki/Q960648","display_name":"Point of interest","level":2,"score":0.4606251120567322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4550550580024719},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.423492968082428},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4060937762260437},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.13274985551834106},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1300722360610962},{"id":"https://openalex.org/C91375879","wikidata":"https://www.wikidata.org/wiki/Q15473274","display_name":"Environmental planning","level":1,"score":0.07887968420982361},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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":5,"locations":[{"id":"doi:10.3390/s20102926","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20102926","pdf_url":"https://www.mdpi.com/1424-8220/20/10/2926/pdf?version=1590486076","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:32455719","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32455719","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:41ecae47b516445b9353b27d829d2799","is_oa":true,"landing_page_url":"https://doaj.org/article/41ecae47b516445b9353b27d829d2799","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 20, Iss 10, p 2926 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/10/2926/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20102926","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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7284828","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7284828","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s20102926","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20102926","pdf_url":"https://www.mdpi.com/1424-8220/20/10/2926/pdf?version=1590486076","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8299999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3026862992.pdf","grobid_xml":"https://content.openalex.org/works/W3026862992.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W203266247","https://openalex.org/W1490432914","https://openalex.org/W2034493736","https://openalex.org/W2063442090","https://openalex.org/W2073491128","https://openalex.org/W2079810056","https://openalex.org/W2084792706","https://openalex.org/W2128790580","https://openalex.org/W2138967774","https://openalex.org/W2165139660","https://openalex.org/W2170742340","https://openalex.org/W2526553801","https://openalex.org/W2534849953","https://openalex.org/W2543580944","https://openalex.org/W2750757093","https://openalex.org/W2762170788","https://openalex.org/W2802948916","https://openalex.org/W2803548656","https://openalex.org/W2808115698","https://openalex.org/W2885285769","https://openalex.org/W2905030996","https://openalex.org/W2906764419","https://openalex.org/W2916873606","https://openalex.org/W2921863999","https://openalex.org/W2922314172","https://openalex.org/W2925093776","https://openalex.org/W2934864134","https://openalex.org/W2946537685","https://openalex.org/W2950658181","https://openalex.org/W2955699406","https://openalex.org/W2971255750","https://openalex.org/W3003557778","https://openalex.org/W3004568034","https://openalex.org/W3005219382","https://openalex.org/W3013255137","https://openalex.org/W3013927611","https://openalex.org/W3094194273","https://openalex.org/W3101105363","https://openalex.org/W6680768685","https://openalex.org/W6682642761","https://openalex.org/W6785406950"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W2378211422","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W4399671601","https://openalex.org/W2771637876","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W1992962589","https://openalex.org/W2064438306"],"abstract_inverted_index":{"This":[0,76],"article":[1],"examines":[2],"autonomous":[3,49],"reconnaissance":[4,50,185],"in":[5,43,51,79,85,187],"a":[6,52,57,74,81,176],"complex":[7,53],"urban":[8,54],"environment":[9,55],"using":[10],"unmanned":[11],"aerial":[12],"vehicles":[13],"(UAVs).":[14],"Environments":[15],"with":[16,162],"many":[17],"buildings":[18],"and":[19,99,119,170],"other":[20],"types":[21,134],"of":[22,35,37,48,59,83,88,130,135,178],"obstacles":[23],"and/or":[24],"an":[25],"uneven":[26],"terrain":[27],"are":[28,142,181],"harder":[29],"to":[30,90,144],"be":[31,91],"explored":[32],"as":[33,115,117,122,124],"occlusion":[34],"objects":[36],"interest":[38,89],"may":[39],"often":[40],"occur.":[41],"First,":[42],"this":[44,131],"article,":[45,132],"the":[46,64,68,86,95,101,111,120,127,146,155,159,163,172],"problem":[47],"via":[56],"swarm":[58],"UAVs":[60,105],"is":[61,71,97,114],"formulated.":[62],"Then,":[63],"algorithm":[65],"based":[66,138,182],"on":[67,139,153,158,183],"metaheuristic":[69],"approach":[70],"proposed":[72,147],"for":[73,103],"solution.":[75],"solution":[77],"lies":[78],"deploying":[80],"number":[82,177],"waypoints":[84,108],"area":[87,113],"explored,":[92],"from":[93,175],"which":[94,180],"monitoring":[96],"performed,":[98],"planning":[100],"routes":[102],"available":[104],"among":[106],"these":[107],"so":[109],"that":[110],"monitored":[112],"large":[116],"possible":[118],"operation":[121],"short":[123],"possible.":[125],"In":[126],"last":[128],"part":[129],"two":[133],"main":[136],"experiments":[137],"computer":[140],"simulations":[141],"designed":[143],"verify":[145],"algorithms.":[148],"The":[149,166],"first":[150],"type":[151],"focuses":[152],"comparing":[154],"results":[156,173],"achieved":[157],"benchmark":[160],"instances":[161],"optimal":[164],"solutions.":[165],"second":[167],"one":[168],"presents":[169],"discusses":[171],"obtained":[174],"scenarios,":[179],"typical":[184],"operations":[186],"real":[188],"environments.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}