{"id":"https://openalex.org/W7165615437","doi":"https://doi.org/10.48550/arxiv.2606.22670","title":"Semantic-Aware Autonomous Exploration for UAVs in Unknown Indoor Environments","display_name":"Semantic-Aware Autonomous Exploration for UAVs in Unknown Indoor Environments","publication_year":2026,"publication_date":"2026-06-21","ids":{"openalex":"https://openalex.org/W7165615437","doi":"https://doi.org/10.48550/arxiv.2606.22670"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.22670","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22670","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2606.22670","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139193198","display_name":"Duc-Thien Nguyen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Duc-Thien","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049048705","display_name":"Ngoc Minh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Do, Ngoc Minh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139135118","display_name":"Xiem HoangVan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"HoangVan, Xiem","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139175926","display_name":"Thanh Nguyen Canh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Canh, Thanh Nguyen","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5135999917984009,"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":0.5135999917984009,"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":0.4438000023365021,"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":0.0052999998442828655,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.6136000156402588},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5949000120162964},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5856999754905701},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5720000267028809},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5468000173568726},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5065000057220459},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4284000098705292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3776000142097473}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7049000263214111},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6136000156402588},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5949000120162964},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5856999754905701},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5720000267028809},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5468000173568726},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5065000057220459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4616999924182892},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3537999987602234},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C9770341","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Geospatial analysis","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.30239999294281006},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2985999882221222},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2689000070095062},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2653999924659729},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26440000534057617}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.22670","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22670","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.22670","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22670","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,23,37,52,61,163,172,181],"in":[2,35,134,153],"unknown":[3],"environments":[4,156],"requires":[5],"unmanned":[6],"aerial":[7],"vehicles":[8],"(UAVs)":[9],"to":[10,58,94,105,119],"efficiently":[11],"generate":[12],"informative":[13],"trajectories":[14],"while":[15,170],"simultaneously":[16],"constructing":[17],"accurate":[18],"maps.":[19],"Although":[20],"many":[21],"existing":[22],"methods":[24],"rely":[25],"on":[26,67,107],"geometric":[27,147],"information,":[28],"they":[29],"often":[30],"lack":[31],"semantic":[32,56,86,89,149],"awareness,":[33],"resulting":[34],"suboptimal":[36],"efficiency":[38],"and":[39,80,100,124,137,148,168,174],"limited":[40],"environmental":[41],"understanding.":[42],"To":[43],"address":[44],"this":[45,47,82],"limitation,":[46],"paper":[48],"proposes":[49],"a":[50,59,76,85],"semantic-aware":[51],"framework":[53,131],"that":[54,158],"adds":[55],"information":[57,111],"roadmap-based":[60],"strategy.":[62],"The":[63,129],"proposed":[64,130,160],"method":[65],"builds":[66],"the":[68,103,114,159],"Dynamic":[69],"Exploration":[70],"Planner":[71],"(DEP),":[72],"which":[73],"incrementally":[74],"constructs":[75],"Probabilistic":[77],"Roadmap":[78],"(PRM),":[79],"augments":[81],"roadmap":[83,115],"with":[84,109,178],"layer.":[87],"A":[88],"reward":[90],"function":[91],"is":[92,116,132],"introduced":[93],"prioritize":[95],"regions":[96],"containing":[97],"meaningful":[98],"objects":[99],"structures,":[101],"enabling":[102],"UAV":[104],"focus":[106],"areas":[108],"higher":[110],"value.":[112],"Furthermore,":[113],"continuously":[117],"updated":[118],"support":[120],"efficient":[121],"frontier":[122],"selection":[123],"path":[125],"planning":[126],"during":[127],"exploration.":[128],"implemented":[133],"ROS":[135],"Noetic":[136],"Gazebo":[138],"using":[139],"an":[140],"RGB-D":[141],"sensor":[142],"for":[143],"simultaneous":[144],"acquisition":[145],"of":[146],"information.":[150],"Experimental":[151],"results":[152],"multiple":[154],"simulated":[155],"demonstrate":[157],"approach":[161],"achieves":[162],"coverage":[164],"rates":[165],"between":[166],"90%":[167],"94%":[169],"reducing":[171],"time":[173],"travel":[175],"distance":[176],"compared":[177],"conventional":[179],"geometry-based":[180],"methods.":[182]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-24T00:00:00"}
