Search Planning of a UAV/UGV Team With Localization Uncertainty in a Subterranean Environment Article Swipe
Matteo De Petrillo
,
Jared Beard
,
Yu Gu
,
Jason N. Gross
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/maes.2021.3065041
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/maes.2021.3065041
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the localization of the UAV is conducted on the UGV via the multi-sensor fusion of a fish-eye camera, 3D LIDAR, ranging radio, and a laser altimeter. Likewise, the trajectory planning of the UAV is conducted on the UGV, which is assumed to have a 3D map of the environment (e.g., from Simultaneous Localization and Mapping). The goal of the planning algorithm is to satisfy the mission's exploration criteria while reducing the localization error of the UAV by evaluating the belief space for potential exploration routes. The presented algorithm is evaluated in a relevant simulation environment where the planning algorithm is shown to be effective at reducing the localization errors of the UAV.
Related Topics
Concepts
Waypoint
Unmanned ground vehicle
Computer science
Artificial intelligence
Computer vision
Lidar
Task (project management)
Motion planning
Trajectory
Remotely operated underwater vehicle
Simultaneous localization and mapping
Altimeter
Real-time computing
Remote sensing
Robot
Mobile robot
Engineering
Geography
Physics
Astronomy
Systems engineering
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- https://doi.org/10.1109/maes.2021.3065041
- OA Status
- green
- Cited By
- 2
- References
- 33
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W3126499940
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W3126499940Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/maes.2021.3065041Digital Object Identifier
- Title
-
Search Planning of a UAV/UGV Team With Localization Uncertainty in a Subterranean EnvironmentWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-06-01Full publication date if available
- Authors
-
Matteo De Petrillo, Jared Beard, Yu Gu, Jason N. GrossList of authors in order
- Landing page
-
https://doi.org/10.1109/maes.2021.3065041Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2102.06069Direct OA link when available
- Concepts
-
Waypoint, Unmanned ground vehicle, Computer science, Artificial intelligence, Computer vision, Lidar, Task (project management), Motion planning, Trajectory, Remotely operated underwater vehicle, Simultaneous localization and mapping, Altimeter, Real-time computing, Remote sensing, Robot, Mobile robot, Engineering, Geography, Physics, Astronomy, Systems engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2023: 1, 2021: 1Per-year citation counts (last 5 years)
- References (count)
-
33Number of works referenced by this work
- Related works (count)
-
20Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W3126499940 |
|---|---|
| doi | https://doi.org/10.1109/maes.2021.3065041 |
| ids.doi | https://doi.org/10.48550/arxiv.2102.06069 |
| ids.mag | 3126499940 |
| ids.openalex | https://openalex.org/W3126499940 |
| fwci | 0.61446719 |
| type | preprint |
| title | Search Planning of a UAV/UGV Team With Localization Uncertainty in a Subterranean Environment |
| biblio.issue | 6 |
| biblio.volume | 36 |
| biblio.last_page | 16 |
| biblio.first_page | 6 |
| topics[0].id | https://openalex.org/T10191 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9998999834060669 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2202 |
| topics[0].subfield.display_name | Aerospace Engineering |
| topics[0].display_name | Robotics and Sensor-Based Localization |
| topics[1].id | https://openalex.org/T10586 |
| topics[1].field.id | https://openalex.org/fields/17 |
| topics[1].field.display_name | Computer Science |
| topics[1].score | 0.9997000098228455 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/1707 |
| topics[1].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[1].display_name | Robotic Path Planning Algorithms |
| topics[2].id | https://openalex.org/T11192 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9979000091552734 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2212 |
| topics[2].subfield.display_name | Ocean Engineering |
| topics[2].display_name | Underwater Vehicles and Communication Systems |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C2781271823 |
| concepts[0].level | 2 |
| concepts[0].score | 0.9384092688560486 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q138081 |
| concepts[0].display_name | Waypoint |
| concepts[1].id | https://openalex.org/C2776548393 |
| concepts[1].level | 2 |
| concepts[1].score | 0.9049392938613892 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q2031473 |
| concepts[1].display_name | Unmanned ground vehicle |
| concepts[2].id | https://openalex.org/C41008148 |
| concepts[2].level | 0 |
| concepts[2].score | 0.6186859607696533 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[2].display_name | Computer science |
| concepts[3].id | https://openalex.org/C154945302 |
| concepts[3].level | 1 |
| concepts[3].score | 0.5930330753326416 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[3].display_name | Artificial intelligence |
| concepts[4].id | https://openalex.org/C31972630 |
| concepts[4].level | 1 |
| concepts[4].score | 0.5580376982688904 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q844240 |
| concepts[4].display_name | Computer vision |
| concepts[5].id | https://openalex.org/C51399673 |
| concepts[5].level | 2 |
| concepts[5].score | 0.5529360175132751 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q504027 |
| concepts[5].display_name | Lidar |
| concepts[6].id | https://openalex.org/C2780451532 |
| concepts[6].level | 2 |
| concepts[6].score | 0.5153936147689819 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q759676 |
| concepts[6].display_name | Task (project management) |
| concepts[7].id | https://openalex.org/C81074085 |
| concepts[7].level | 3 |
| concepts[7].score | 0.49839067459106445 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q366872 |
| concepts[7].display_name | Motion planning |
| concepts[8].id | https://openalex.org/C13662910 |
| concepts[8].level | 2 |
| concepts[8].score | 0.4871351420879364 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q193139 |
| concepts[8].display_name | Trajectory |
| concepts[9].id | https://openalex.org/C145424490 |
| concepts[9].level | 4 |
| concepts[9].score | 0.44158434867858887 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q618465 |
| concepts[9].display_name | Remotely operated underwater vehicle |
| concepts[10].id | https://openalex.org/C86369673 |
| concepts[10].level | 4 |
| concepts[10].score | 0.44087404012680054 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q1203659 |
| concepts[10].display_name | Simultaneous localization and mapping |
| concepts[11].id | https://openalex.org/C17534553 |
| concepts[11].level | 2 |
| concepts[11].score | 0.43647098541259766 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q216197 |
| concepts[11].display_name | Altimeter |
| concepts[12].id | https://openalex.org/C79403827 |
| concepts[12].level | 1 |
| concepts[12].score | 0.3938935399055481 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q3988 |
| concepts[12].display_name | Real-time computing |
| concepts[13].id | https://openalex.org/C62649853 |
| concepts[13].level | 1 |
| concepts[13].score | 0.3130006790161133 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q199687 |
| concepts[13].display_name | Remote sensing |
| concepts[14].id | https://openalex.org/C90509273 |
| concepts[14].level | 2 |
| concepts[14].score | 0.3087735176086426 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[14].display_name | Robot |
| concepts[15].id | https://openalex.org/C19966478 |
| concepts[15].level | 3 |
| concepts[15].score | 0.28275617957115173 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q4810574 |
| concepts[15].display_name | Mobile robot |
| concepts[16].id | https://openalex.org/C127413603 |
| concepts[16].level | 0 |
| concepts[16].score | 0.18541032075881958 |
| concepts[16].wikidata | https://www.wikidata.org/wiki/Q11023 |
| concepts[16].display_name | Engineering |
| concepts[17].id | https://openalex.org/C205649164 |
| concepts[17].level | 0 |
| concepts[17].score | 0.17961302399635315 |
| concepts[17].wikidata | https://www.wikidata.org/wiki/Q1071 |
| concepts[17].display_name | Geography |
| concepts[18].id | https://openalex.org/C121332964 |
| concepts[18].level | 0 |
| concepts[18].score | 0.0 |
| concepts[18].wikidata | https://www.wikidata.org/wiki/Q413 |
| concepts[18].display_name | Physics |
| concepts[19].id | https://openalex.org/C1276947 |
| concepts[19].level | 1 |
| concepts[19].score | 0.0 |
| concepts[19].wikidata | https://www.wikidata.org/wiki/Q333 |
| concepts[19].display_name | Astronomy |
| concepts[20].id | https://openalex.org/C201995342 |
| concepts[20].level | 1 |
| concepts[20].score | 0.0 |
| concepts[20].wikidata | https://www.wikidata.org/wiki/Q682496 |
| concepts[20].display_name | Systems engineering |
| keywords[0].id | https://openalex.org/keywords/waypoint |
| keywords[0].score | 0.9384092688560486 |
| keywords[0].display_name | Waypoint |
| keywords[1].id | https://openalex.org/keywords/unmanned-ground-vehicle |
| keywords[1].score | 0.9049392938613892 |
| keywords[1].display_name | Unmanned ground vehicle |
| keywords[2].id | https://openalex.org/keywords/computer-science |
| keywords[2].score | 0.6186859607696533 |
| keywords[2].display_name | Computer science |
| keywords[3].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[3].score | 0.5930330753326416 |
| keywords[3].display_name | Artificial intelligence |
| keywords[4].id | https://openalex.org/keywords/computer-vision |
| keywords[4].score | 0.5580376982688904 |
| keywords[4].display_name | Computer vision |
| keywords[5].id | https://openalex.org/keywords/lidar |
| keywords[5].score | 0.5529360175132751 |
| keywords[5].display_name | Lidar |
| keywords[6].id | https://openalex.org/keywords/task |
| keywords[6].score | 0.5153936147689819 |
| keywords[6].display_name | Task (project management) |
| keywords[7].id | https://openalex.org/keywords/motion-planning |
| keywords[7].score | 0.49839067459106445 |
| keywords[7].display_name | Motion planning |
| keywords[8].id | https://openalex.org/keywords/trajectory |
| keywords[8].score | 0.4871351420879364 |
| keywords[8].display_name | Trajectory |
| keywords[9].id | https://openalex.org/keywords/remotely-operated-underwater-vehicle |
| keywords[9].score | 0.44158434867858887 |
| keywords[9].display_name | Remotely operated underwater vehicle |
| keywords[10].id | https://openalex.org/keywords/simultaneous-localization-and-mapping |
| keywords[10].score | 0.44087404012680054 |
| keywords[10].display_name | Simultaneous localization and mapping |
| keywords[11].id | https://openalex.org/keywords/altimeter |
| keywords[11].score | 0.43647098541259766 |
| keywords[11].display_name | Altimeter |
| keywords[12].id | https://openalex.org/keywords/real-time-computing |
| keywords[12].score | 0.3938935399055481 |
| keywords[12].display_name | Real-time computing |
| keywords[13].id | https://openalex.org/keywords/remote-sensing |
| keywords[13].score | 0.3130006790161133 |
| keywords[13].display_name | Remote sensing |
| keywords[14].id | https://openalex.org/keywords/robot |
| keywords[14].score | 0.3087735176086426 |
| keywords[14].display_name | Robot |
| keywords[15].id | https://openalex.org/keywords/mobile-robot |
| keywords[15].score | 0.28275617957115173 |
| keywords[15].display_name | Mobile robot |
| keywords[16].id | https://openalex.org/keywords/engineering |
| keywords[16].score | 0.18541032075881958 |
| keywords[16].display_name | Engineering |
| keywords[17].id | https://openalex.org/keywords/geography |
| keywords[17].score | 0.17961302399635315 |
| keywords[17].display_name | Geography |
| language | en |
| locations[0].id | doi:10.1109/maes.2021.3065041 |
| locations[0].is_oa | False |
| locations[0].source.id | https://openalex.org/S161080992 |
| locations[0].source.issn | 0885-8985, 1557-959X |
| locations[0].source.type | journal |
| locations[0].source.is_oa | False |
| locations[0].source.issn_l | 0885-8985 |
| locations[0].source.is_core | True |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | IEEE Aerospace and Electronic Systems Magazine |
| locations[0].source.host_organization | https://openalex.org/P4310319808 |
| locations[0].source.host_organization_name | Institute of Electrical and Electronics Engineers |
| locations[0].source.host_organization_lineage | https://openalex.org/P4310319808 |
| locations[0].source.host_organization_lineage_names | Institute of Electrical and Electronics Engineers |
| locations[0].license | |
| locations[0].pdf_url | |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | IEEE Aerospace and Electronic Systems Magazine |
| locations[0].landing_page_url | https://doi.org/10.1109/maes.2021.3065041 |
| locations[1].id | pmh:oai:arXiv.org:2102.06069 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306400194 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | True |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | arXiv (Cornell University) |
| locations[1].source.host_organization | https://openalex.org/I205783295 |
| locations[1].source.host_organization_name | Cornell University |
| locations[1].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[1].license | |
| locations[1].pdf_url | https://arxiv.org/pdf/2102.06069 |
| locations[1].version | submittedVersion |
| locations[1].raw_type | text |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | False |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | http://arxiv.org/abs/2102.06069 |
| locations[2].id | mag:3126499940 |
| locations[2].is_oa | True |
| locations[2].source.id | https://openalex.org/S4306400194 |
| locations[2].source.issn | |
| locations[2].source.type | repository |
| locations[2].source.is_oa | True |
| locations[2].source.issn_l | |
| locations[2].source.is_core | False |
| locations[2].source.is_in_doaj | False |
| locations[2].source.display_name | arXiv (Cornell University) |
| locations[2].source.host_organization | https://openalex.org/I205783295 |
| locations[2].source.host_organization_name | Cornell University |
| locations[2].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[2].license | |
| locations[2].pdf_url | |
| locations[2].version | submittedVersion |
| locations[2].raw_type | |
| locations[2].license_id | |
| locations[2].is_accepted | False |
| locations[2].is_published | False |
| locations[2].raw_source_name | arXiv (Cornell University) |
| locations[2].landing_page_url | http://arxiv.org/pdf/2102.06069.pdf |
| locations[3].id | doi:10.48550/arxiv.2102.06069 |
| locations[3].is_oa | True |
| locations[3].source.id | https://openalex.org/S4306400194 |
| locations[3].source.issn | |
| locations[3].source.type | repository |
| locations[3].source.is_oa | True |
| locations[3].source.issn_l | |
| locations[3].source.is_core | False |
| locations[3].source.is_in_doaj | False |
| locations[3].source.display_name | arXiv (Cornell University) |
| locations[3].source.host_organization | https://openalex.org/I205783295 |
| locations[3].source.host_organization_name | Cornell University |
| locations[3].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[3].license | |
| locations[3].pdf_url | |
| locations[3].version | |
| locations[3].raw_type | article |
| locations[3].license_id | |
| locations[3].is_accepted | False |
| locations[3].is_published | |
| locations[3].raw_source_name | |
| locations[3].landing_page_url | https://doi.org/10.48550/arxiv.2102.06069 |
| indexed_in | arxiv, crossref, datacite |
| authorships[0].author.id | https://openalex.org/A5002917719 |
| authorships[0].author.orcid | |
| authorships[0].author.display_name | Matteo De Petrillo |
| authorships[0].countries | US |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I12097938 |
| authorships[0].affiliations[0].raw_affiliation_string | West Virginia University, Morgantown WV, USA |
| authorships[0].institutions[0].id | https://openalex.org/I12097938 |
| authorships[0].institutions[0].ror | https://ror.org/011vxgd24 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I12097938 |
| authorships[0].institutions[0].country_code | US |
| authorships[0].institutions[0].display_name | West Virginia University |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Matteo De Petrillo |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | West Virginia University, Morgantown WV, USA |
| authorships[1].author.id | https://openalex.org/A5009377355 |
| authorships[1].author.orcid | https://orcid.org/0000-0002-4184-1178 |
| authorships[1].author.display_name | Jared Beard |
| authorships[1].countries | US |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I12097938 |
| authorships[1].affiliations[0].raw_affiliation_string | West Virginia University, Morgantown WV, USA |
| authorships[1].institutions[0].id | https://openalex.org/I12097938 |
| authorships[1].institutions[0].ror | https://ror.org/011vxgd24 |
| authorships[1].institutions[0].type | education |
| authorships[1].institutions[0].lineage | https://openalex.org/I12097938 |
| authorships[1].institutions[0].country_code | US |
| authorships[1].institutions[0].display_name | West Virginia University |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Jared Beard |
| authorships[1].is_corresponding | False |
| authorships[1].raw_affiliation_strings | West Virginia University, Morgantown WV, USA |
| authorships[2].author.id | https://openalex.org/A5064713953 |
| authorships[2].author.orcid | https://orcid.org/0000-0003-3165-3269 |
| authorships[2].author.display_name | Yu Gu |
| authorships[2].countries | US |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I12097938 |
| authorships[2].affiliations[0].raw_affiliation_string | West Virginia University, Morgantown WV, USA |
| authorships[2].institutions[0].id | https://openalex.org/I12097938 |
| authorships[2].institutions[0].ror | https://ror.org/011vxgd24 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I12097938 |
| authorships[2].institutions[0].country_code | US |
| authorships[2].institutions[0].display_name | West Virginia University |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Yu Gu |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | West Virginia University, Morgantown WV, USA |
| authorships[3].author.id | https://openalex.org/A5015236603 |
| authorships[3].author.orcid | https://orcid.org/0000-0002-7771-2757 |
| authorships[3].author.display_name | Jason N. Gross |
| authorships[3].countries | US |
| authorships[3].affiliations[0].institution_ids | https://openalex.org/I12097938 |
| authorships[3].affiliations[0].raw_affiliation_string | West Virginia University, Morgantown WV, USA |
| authorships[3].institutions[0].id | https://openalex.org/I12097938 |
| authorships[3].institutions[0].ror | https://ror.org/011vxgd24 |
| authorships[3].institutions[0].type | education |
| authorships[3].institutions[0].lineage | https://openalex.org/I12097938 |
| authorships[3].institutions[0].country_code | US |
| authorships[3].institutions[0].display_name | West Virginia University |
| authorships[3].author_position | last |
| authorships[3].raw_author_name | Jason N. Gross |
| authorships[3].is_corresponding | False |
| authorships[3].raw_affiliation_strings | West Virginia University, Morgantown WV, USA |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://arxiv.org/pdf/2102.06069 |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Search Planning of a UAV/UGV Team With Localization Uncertainty in a Subterranean Environment |
| has_fulltext | True |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10191 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9998999834060669 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2202 |
| primary_topic.subfield.display_name | Aerospace Engineering |
| primary_topic.display_name | Robotics and Sensor-Based Localization |
| related_works | https://openalex.org/W3172752635, https://openalex.org/W3098315833, https://openalex.org/W3091924671, https://openalex.org/W2758687227, https://openalex.org/W2744720501, https://openalex.org/W2600349203, https://openalex.org/W2795576110, https://openalex.org/W2023008494, https://openalex.org/W2795197409, https://openalex.org/W3200212424, https://openalex.org/W2895235883, https://openalex.org/W3163500078, https://openalex.org/W2905256473, https://openalex.org/W2324379549, https://openalex.org/W3105173974, https://openalex.org/W2837943062, https://openalex.org/W2788817046, https://openalex.org/W2955730076, https://openalex.org/W2906962437, https://openalex.org/W2922518393 |
| cited_by_count | 2 |
| counts_by_year[0].year | 2023 |
| counts_by_year[0].cited_by_count | 1 |
| counts_by_year[1].year | 2021 |
| counts_by_year[1].cited_by_count | 1 |
| locations_count | 4 |
| best_oa_location.id | pmh:oai:arXiv.org:2102.06069 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306400194 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | arXiv (Cornell University) |
| best_oa_location.source.host_organization | https://openalex.org/I205783295 |
| best_oa_location.source.host_organization_name | Cornell University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| best_oa_location.license | |
| best_oa_location.pdf_url | https://arxiv.org/pdf/2102.06069 |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | text |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | |
| best_oa_location.landing_page_url | http://arxiv.org/abs/2102.06069 |
| primary_location.id | doi:10.1109/maes.2021.3065041 |
| primary_location.is_oa | False |
| primary_location.source.id | https://openalex.org/S161080992 |
| primary_location.source.issn | 0885-8985, 1557-959X |
| primary_location.source.type | journal |
| primary_location.source.is_oa | False |
| primary_location.source.issn_l | 0885-8985 |
| primary_location.source.is_core | True |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | IEEE Aerospace and Electronic Systems Magazine |
| primary_location.source.host_organization | https://openalex.org/P4310319808 |
| primary_location.source.host_organization_name | Institute of Electrical and Electronics Engineers |
| primary_location.source.host_organization_lineage | https://openalex.org/P4310319808 |
| primary_location.source.host_organization_lineage_names | Institute of Electrical and Electronics Engineers |
| primary_location.license | |
| primary_location.pdf_url | |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | IEEE Aerospace and Electronic Systems Magazine |
| primary_location.landing_page_url | https://doi.org/10.1109/maes.2021.3065041 |
| publication_date | 2021-06-01 |
| publication_year | 2021 |
| referenced_works | https://openalex.org/W2133844819, https://openalex.org/W2099343826, https://openalex.org/W6638704531, https://openalex.org/W2113739894, https://openalex.org/W2979648132, https://openalex.org/W2547345216, https://openalex.org/W2907172124, https://openalex.org/W2571268510, https://openalex.org/W3045664273, https://openalex.org/W2029995637, https://openalex.org/W1176413013, https://openalex.org/W1826354755, https://openalex.org/W2090302437, https://openalex.org/W2810169700, https://openalex.org/W6756486208, https://openalex.org/W2006433700, https://openalex.org/W2066713014, https://openalex.org/W2098573805, https://openalex.org/W2952599778, https://openalex.org/W2769879021, https://openalex.org/W2769632744, https://openalex.org/W2947097103, https://openalex.org/W2065039610, https://openalex.org/W2053833381, https://openalex.org/W2164429173, https://openalex.org/W4236470048, https://openalex.org/W6681158678, https://openalex.org/W2614543743, https://openalex.org/W3210232381, https://openalex.org/W2145938889, https://openalex.org/W1832534480, https://openalex.org/W2995135659, https://openalex.org/W2096636360 |
| referenced_works_count | 33 |
| abstract_inverted_index.a | 2, 29, 55, 63, 83, 131 |
| abstract_inverted_index.3D | 58, 84 |
| abstract_inverted_index.We | 0 |
| abstract_inverted_index.an | 7, 16 |
| abstract_inverted_index.at | 144 |
| abstract_inverted_index.be | 142 |
| abstract_inverted_index.by | 116 |
| abstract_inverted_index.in | 28, 130 |
| abstract_inverted_index.is | 13, 45, 73, 79, 101, 128, 139 |
| abstract_inverted_index.of | 24, 42, 54, 70, 86, 97, 113, 149 |
| abstract_inverted_index.on | 47, 75 |
| abstract_inverted_index.to | 81, 102, 141 |
| abstract_inverted_index.The | 32, 95, 125 |
| abstract_inverted_index.UAV | 33, 44, 72, 115 |
| abstract_inverted_index.UGV | 35, 49 |
| abstract_inverted_index.and | 26, 34, 62, 93 |
| abstract_inverted_index.are | 36 |
| abstract_inverted_index.for | 6, 21, 121 |
| abstract_inverted_index.map | 85 |
| abstract_inverted_index.the | 22, 40, 43, 48, 51, 67, 71, 76, 87, 98, 104, 110, 114, 118, 136, 146, 150 |
| abstract_inverted_index.via | 50 |
| abstract_inverted_index.UAV. | 151 |
| abstract_inverted_index.UGV, | 77 |
| abstract_inverted_index.from | 90 |
| abstract_inverted_index.goal | 96 |
| abstract_inverted_index.have | 82 |
| abstract_inverted_index.such | 38 |
| abstract_inverted_index.task | 23 |
| abstract_inverted_index.that | 12, 39 |
| abstract_inverted_index.with | 15 |
| abstract_inverted_index.(UAV) | 11 |
| abstract_inverted_index.(UGV) | 20 |
| abstract_inverted_index.error | 112 |
| abstract_inverted_index.laser | 64 |
| abstract_inverted_index.shown | 140 |
| abstract_inverted_index.space | 120 |
| abstract_inverted_index.where | 135 |
| abstract_inverted_index.which | 78 |
| abstract_inverted_index.while | 108 |
| abstract_inverted_index.(e.g., | 89 |
| abstract_inverted_index.LIDAR, | 59 |
| abstract_inverted_index.aerial | 9 |
| abstract_inverted_index.belief | 119 |
| abstract_inverted_index.errors | 148 |
| abstract_inverted_index.fusion | 53 |
| abstract_inverted_index.ground | 18 |
| abstract_inverted_index.radio, | 61 |
| abstract_inverted_index.rescue | 27 |
| abstract_inverted_index.search | 25 |
| abstract_inverted_index.teamed | 14, 37 |
| abstract_inverted_index.assumed | 80 |
| abstract_inverted_index.camera, | 57 |
| abstract_inverted_index.present | 1 |
| abstract_inverted_index.ranging | 60 |
| abstract_inverted_index.routes. | 124 |
| abstract_inverted_index.satisfy | 103 |
| abstract_inverted_index.vehicle | 10, 19 |
| abstract_inverted_index.criteria | 107 |
| abstract_inverted_index.fish-eye | 56 |
| abstract_inverted_index.planning | 4, 69, 99, 137 |
| abstract_inverted_index.reducing | 109, 145 |
| abstract_inverted_index.relevant | 132 |
| abstract_inverted_index.unmanned | 8, 17 |
| abstract_inverted_index.waypoint | 3 |
| abstract_inverted_index.Likewise, | 66 |
| abstract_inverted_index.Mapping). | 94 |
| abstract_inverted_index.algorithm | 5, 100, 127, 138 |
| abstract_inverted_index.conducted | 46, 74 |
| abstract_inverted_index.effective | 143 |
| abstract_inverted_index.evaluated | 129 |
| abstract_inverted_index.mission's | 105 |
| abstract_inverted_index.potential | 122 |
| abstract_inverted_index.presented | 126 |
| abstract_inverted_index.altimeter. | 65 |
| abstract_inverted_index.evaluating | 117 |
| abstract_inverted_index.simulation | 133 |
| abstract_inverted_index.trajectory | 68 |
| abstract_inverted_index.environment | 88, 134 |
| abstract_inverted_index.exploration | 106, 123 |
| abstract_inverted_index.Localization | 92 |
| abstract_inverted_index.Simultaneous | 91 |
| abstract_inverted_index.environment. | 31 |
| abstract_inverted_index.localization | 41, 111, 147 |
| abstract_inverted_index.multi-sensor | 52 |
| abstract_inverted_index.subterranean | 30 |
| cited_by_percentile_year.max | 94 |
| cited_by_percentile_year.min | 89 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 4 |
| citation_normalized_percentile.value | 0.77826861 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |