{"id":"https://openalex.org/W7106701680","doi":"https://doi.org/10.48550/arxiv.2511.18353","title":"Enhancing UAV Search under Occlusion using Next Best View Planning","display_name":"Enhancing UAV Search under Occlusion using Next Best View Planning","publication_year":2025,"publication_date":"2025-11-23","ids":{"openalex":"https://openalex.org/W7106701680","doi":"https://doi.org/10.48550/arxiv.2511.18353"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2511.18353","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.18353","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2511.18353","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Strand, Sigrid Helene","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Strand, Sigrid Helene","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Wiedemann, Thomas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wiedemann, Thomas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Burczek, Bram","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Burczek, Bram","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Shutin, Dmitriy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shutin, Dmitriy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6337000131607056,"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":0.6337000131607056,"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":0.26260000467300415,"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":0.019700000062584877,"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/search-and-rescue","display_name":"Search and rescue","score":0.8715999722480774},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.8659999966621399},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5974000096321106},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.4661000072956085},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.41429999470710754},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.38339999318122864},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.3361999988555908}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.8715999722480774},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8659999966621399},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373999714851379},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5974000096321106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5687000155448914},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5090000033378601},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.4661000072956085},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.41429999470710754},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.38339999318122864},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3472000062465668},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C201789804","wikidata":"https://www.wikidata.org/wiki/Q2362762","display_name":"Search problem","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2992999851703644},{"id":"https://openalex.org/C831591","wikidata":"https://www.wikidata.org/wiki/Q59750","display_name":"Bidirectional search","level":5,"score":0.296099990606308},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2874999940395355},{"id":"https://openalex.org/C135320971","wikidata":"https://www.wikidata.org/wiki/Q1868524","display_name":"Local search (optimization)","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C139979381","wikidata":"https://www.wikidata.org/wiki/Q17056021","display_name":"Incremental heuristic search","level":4,"score":0.2696000039577484},{"id":"https://openalex.org/C98306058","wikidata":"https://www.wikidata.org/wiki/Q3526893","display_name":"Search theory","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2511.18353","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.18353","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2511.18353","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.18353","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.5922995209693909}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Search":[0],"and":[1,20,49,83,92,112,132,152,182],"rescue":[2,21,183],"missions":[3,22,184],"are":[4,116],"often":[5],"critical":[6],"following":[7],"sudden":[8],"natural":[9],"disasters":[10],"or":[11],"in":[12,54,102,129,149,185],"high-risk":[13],"environmental":[14],"situations.":[15],"The":[16],"most":[17],"challenging":[18,47],"search":[19,42,51,77,120,181],"involve":[23],"difficult-to-access":[24],"terrains,":[25],"such":[26],"as":[27],"dense":[28,55],"forests":[29,151],"with":[30],"high":[31],"occlusion.":[32],"Deploying":[33],"unmanned":[34,60],"aerial":[35,61],"vehicles":[36,62],"for":[37,96,179],"exploration":[38],"can":[39],"significantly":[40],"enhance":[41,119],"effectiveness,":[43],"facilitate":[44],"access":[45],"to":[46,67,79,118],"environments,":[48],"reduce":[50],"time.":[52],"However,":[53],"forests,":[56],"the":[57,72,97,137,159,167,174],"effectiveness":[58],"of":[59,71,146],"depends":[63],"on":[64],"their":[65],"ability":[66],"capture":[68],"clear":[69],"views":[70],"ground,":[73],"necessitating":[74],"a":[75,109,113],"robust":[76],"strategy":[78,91],"optimize":[80],"camera":[81,125],"positioning":[82],"perspective.":[84],"This":[85],"work":[86],"presents":[87],"an":[88,93],"optimized":[89],"planning":[90],"efficient":[94],"algorithm":[95],"next":[98],"best":[99],"view":[100],"problem":[101],"occluded":[103,186],"environments.":[104,187],"Two":[105],"novel":[106],"optimization":[107],"heuristics,":[108],"geometry":[110,160],"heuristic,":[111,115],"visibility":[114,138,168],"proposed":[117],"performance":[121],"by":[122],"selecting":[123],"optimal":[124],"viewpoints.":[126],"Comparative":[127],"evaluations":[128],"both":[130],"simulated":[131,150],"real-world":[133,163],"settings":[134],"reveal":[135],"that":[136,166],"heuristic":[139,169],"achieves":[140],"greater":[141],"performance,":[142],"identifying":[143],"over":[144],"90%":[145],"hidden":[147],"objects":[148],"offering":[153],"10%":[154],"better":[155,171],"detection":[156],"rates":[157],"than":[158],"heuristic.":[161],"Additionally,":[162],"experiments":[164],"demonstrate":[165],"provides":[170],"coverage":[172],"under":[173],"canopy,":[175],"highlighting":[176],"its":[177],"potential":[178],"improving":[180]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-11-27T00:00:00"}