{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T16:09:51Z","timestamp":1784218191205,"version":"3.55.0"},"reference-count":49,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2016,11,11]],"date-time":"2016-11-11T00:00:00Z","timestamp":1478822400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"European Union\u2019s Horizon 2020 Research and Innovation Programme","award":["No.644128"],"award-info":[{"award-number":["No.644128"]}]},{"name":"European Union\u2019s Horizon 2020 Research and Innovation Programme","award":["AEROWORKS"],"award-info":[{"award-number":["AEROWORKS"]}]},{"name":"University of Nevada, Reno seed funds"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2018,2]]},"DOI":"10.1007\/s10514-016-9610-0","type":"journal-article","created":{"date-parts":[[2016,11,10]],"date-time":"2016-11-10T22:52:04Z","timestamp":1478818324000},"page":"291-306","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":223,"title":["Receding horizon path planning for 3D exploration and surface inspection"],"prefix":"10.1007","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9822-6304","authenticated-orcid":false,"given":"Andreas","family":"Bircher","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mina","family":"Kamel","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kostas","family":"Alexis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Helen","family":"Oleynikova","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2016,11,11]]},"reference":[{"issue":"4","key":"9610_CR1","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1177\/027836402320556359","volume":"21","author":"EU Acar","year":"2002","unstructured":"Acar, E. U., Choset, H., Rizzi, A. A., Atkar, P. N., & Hull, D. (2002). Morse decompositions for coverage tasks. The International Journal of Robotics Research, 21(4), 331\u2013344.","journal-title":"The International Journal of Robotics Research"},{"issue":"6","key":"9610_CR2","doi-asserted-by":"crossref","first-page":"912","DOI":"10.1002\/rob.21526","volume":"31","author":"B Adler","year":"2014","unstructured":"Adler, B., Xiao, J., & Zhang, J. (2014). Autonomous exploration of urban environments using unmanned aerial vehicles. Journal of Field Robotics, 31(6), 912\u2013939.","journal-title":"Journal of Field Robotics"},{"key":"9610_CR3","doi-asserted-by":"crossref","unstructured":"Alexis, K., Papachristos, C., Siegwart, R., & Tzes, A. (2015). Uniform coverage structural inspection path-planning for micro aerial vehicles. In IEEE international symposium on intelligent control (ISIC) (pp. 59\u201364). IEEE.","DOI":"10.1109\/ISIC.2015.7307280"},{"issue":"12","key":"9610_CR4","doi-asserted-by":"crossref","first-page":"1812","DOI":"10.1049\/iet-cta.2011.0348","volume":"6","author":"K Alexis","year":"2012","unstructured":"Alexis, K., Nikolakopoulos, G., & Tzes, A. (2012). Model predictive quadrotor control: attitude, altitude and position experimental studies. Control Theory & Applications, IET, 6(12), 1812\u20131827.","journal-title":"Control Theory & Applications, IET"},{"key":"9610_CR5","doi-asserted-by":"crossref","unstructured":"Amigoni, F., Li, A. Q., & Holz, D. (2013) Evaluating the impact of perception and decision timing on autonomous robotic exploration. In 2013 european conference on mobile robots (ECMR) (pp. 68\u201373). IEEE.","DOI":"10.1109\/ECMR.2013.6698822"},{"issue":"5","key":"9610_CR6","doi-asserted-by":"crossref","first-page":"589","DOI":"10.1109\/3468.867866","volume":"30","author":"JE Banta","year":"2000","unstructured":"Banta, J. E., Wong, L. M., Dumont, C., Abidi, M., et al. (2000). A next-best-view system for autonomous 3-d object reconstruction. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 30(5), 589\u2013598.","journal-title":"IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans"},{"issue":"4","key":"9610_CR7","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1007\/s10514-011-9249-9","volume":"31","author":"N Basilico","year":"2011","unstructured":"Basilico, N., & Amigoni, F. (2011). Exploration strategies based on multi-criteria decision making for searching environments in rescue operations. Autonomous Robots, 31(4), 401\u2013417.","journal-title":"Autonomous Robots"},{"key":"9610_CR8","unstructured":"Bircher, A., Alexis, K. (2016). Receding Horizon Next Best View Planner Code Release. \n                        https:\/\/github.com\/ethz-asl\/nbvplanner"},{"key":"9610_CR9","unstructured":"Bircher, A., Alexis, K., Schwesinger, U., Omari, S., Burri, M., & Siegwart, R. (2016). An incremental sampling-based approach to inspection planning: the rapidly exploring random tree of trees. Robotica (pp. 1\u201314)."},{"key":"9610_CR10","unstructured":"Bircher, A., Kamel, M., Alexis, K., & Siegwart, R. (2016). Next Best View Planning Dataset Release. \n                        https:\/\/github.com\/ethz-asl\/nbvplanner\/wiki\/Example-Results\n                        \n                    ."},{"key":"9610_CR11","doi-asserted-by":"crossref","unstructured":"Bircher, A., Kamel, M., Alexis, K., Oleynikova, H., & Siegwart, R. (2016). Receding horizon \u201cnext-best-view\u201d planner for 3D exploration. In 2016 IEEE international conference on robotics and automation (ICRA) (pp. 1462\u20131468). IEEE.","DOI":"10.1109\/ICRA.2016.7487281"},{"issue":"6","key":"9610_CR12","doi-asserted-by":"crossref","first-page":"1059","DOI":"10.1007\/s10514-015-9517-1","volume":"40","author":"A Bircher","year":"2016","unstructured":"Bircher, A., Kamel, M., Alexis, K., Burri, M., Oettershagen, P., Omari, S., et al. (2016). Three-dimensional coverage path planning via viewpoint resampling and tour optimization for aerial robots. Autonomous Robots, 40(6), 1059\u20131078.","journal-title":"Autonomous Robots"},{"key":"9610_CR13","doi-asserted-by":"crossref","unstructured":"Bloesch, M., Omari, S., Hutter, M., & Siegwart, R. (2015). Robust visual inertial odometry using a direct ekf-based approach. In 2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 298\u2013304). IEEE.","DOI":"10.1109\/IROS.2015.7353389"},{"key":"9610_CR14","doi-asserted-by":"crossref","unstructured":"Burgard, W., Moors, M., Fox, D., Simmons, R., & Thrun, S. (2000) Collaborative multi-robot exploration. In Proceedings of the IEEE international conference on robotics and automation (ICRA\u201900) (Vol. 1, pp. 476\u2013481). IEEE.","DOI":"10.1109\/ROBOT.2000.844100"},{"key":"9610_CR15","doi-asserted-by":"crossref","unstructured":"Burri, M., Nikolic, J., Hurzeler, C., Caprari, G., & Siegwart, R. (2012). Aerial service robots for visual inspection of thermal power plant boiler systems. In 2012 2nd international conference on applied robotics for the power industry (CARPI) (pp. 70\u201375).","DOI":"10.1109\/CARPI.2012.6473374"},{"key":"9610_CR16","volume-title":"Model Predictive Control","author":"EF Camacho","year":"2003","unstructured":"Camacho, E. F., & Bordons, C. (2003). Model Predictive Control. Berlin: Springer."},{"key":"9610_CR17","doi-asserted-by":"crossref","first-page":"557","DOI":"10.1109\/TPAMI.1982.4767309","volume":"6","author":"RT Chin","year":"1982","unstructured":"Chin, R. T., & Harlow, C. A. (1982). Automated visual inspection: A survey. IEEE Transactions on Pattern Analysis and Machine Intelligence, 6, 557\u2013573.","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"9610_CR18","doi-asserted-by":"crossref","unstructured":"Choset, H., Pignon, P. (1998). Coverage path planning: The boustrophedon cellular decomposition. In Field and service robotics (pp. 203\u2013209). Springer","DOI":"10.1007\/978-1-4471-1273-0_32"},{"key":"9610_CR19","doi-asserted-by":"crossref","unstructured":"Colas, F., Mahesh, S., Pomerleau, F., Liu, M., & Siegwart, R.(2013). 3d path planning and execution for search and rescue ground robots. In 2013 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 722\u2013727). IEEE.","DOI":"10.1109\/IROS.2013.6696431"},{"key":"9610_CR20","doi-asserted-by":"crossref","unstructured":"Connolly, C., et al. (1985). The determination of next best views. In Proceedings of the 1985 IEEE international conference on robotics and automation, (Vol. 2, pp. 432\u2013435). IEEE.","DOI":"10.1109\/ROBOT.1985.1087372"},{"key":"9610_CR21","doi-asserted-by":"crossref","unstructured":"Dewan, A., Mahendran, A., Soni, N., & Krishna, M.(2013). Heterogeneous UGV-MAV exploration using integer programming. In 2013 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 5742\u20135749). IEEE.","DOI":"10.1109\/IROS.2013.6697188"},{"issue":"6","key":"9610_CR22","doi-asserted-by":"crossref","first-page":"459","DOI":"10.1080\/01691864.2013.763720","volume":"27","author":"C Dornhege","year":"2013","unstructured":"Dornhege, C., & Kleiner, A. (2013). A frontier-void-based approach for autonomous exploration in 3d. Advanced Robotics, 27(6), 459\u2013468.","journal-title":"Advanced Robotics"},{"key":"9610_CR23","doi-asserted-by":"crossref","unstructured":"Faigl, J., & Kulich, M.(2015) On benchmarking of frontier-based multi-robot exploration strategies. In 2015 european conference on mobile robots (ECMR) (pp. 1\u20138). IEEE.","DOI":"10.1109\/ECMR.2015.7324183"},{"key":"9610_CR24","doi-asserted-by":"crossref","unstructured":"Faigl, J., Kulic, M., & P\u0159eu\u010dil, L. (2012). Goal assignment using distance cost in multi-robot exploration. In 2012 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 3741\u20133746). IEEE.","DOI":"10.1109\/IROS.2012.6385660"},{"issue":"12","key":"9610_CR25","doi-asserted-by":"crossref","first-page":"1258","DOI":"10.1016\/j.robot.2013.09.004","volume":"61","author":"E Galceran","year":"2013","unstructured":"Galceran, E., & Carreras, M. (2013). A survey on coverage path planning for robotics. Robotics and Autonomous Systems, 61(12), 1258\u20131276.","journal-title":"Robotics and Autonomous Systems"},{"issue":"10\u201311","key":"9610_CR26","doi-asserted-by":"crossref","first-page":"829","DOI":"10.1177\/0278364902021010834","volume":"21","author":"HH Gonz\u00e1lez-Banos","year":"2002","unstructured":"Gonz\u00e1lez-Banos, H. H., & Latombe, J.-C. (2002). Navigation strategies for exploring indoor environments. The International Journal of Robotics Research, 21(10\u201311), 829\u2013848.","journal-title":"The International Journal of Robotics Research"},{"key":"9610_CR27","doi-asserted-by":"crossref","unstructured":"Heng, L., Gotovos, A., Krause, A., & Pollefeys, M. (2015). Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments. In IEEE international conference on robotics and automation (ICRA).","DOI":"10.1109\/ICRA.2015.7139309"},{"issue":"3","key":"9610_CR28","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1007\/s10514-012-9321-0","volume":"34","author":"A Hornung","year":"2013","unstructured":"Hornung, A., Wurm, K. M., Bennewitz, M., Stachniss, C., & Burgard, W. (2013). Octomap: An efficient probabilistic 3d mapping framework based on octrees. Autonomous Robots, 34(3), 189\u2013206.","journal-title":"Autonomous Robots"},{"key":"9610_CR29","doi-asserted-by":"crossref","unstructured":"Hover, F. S., Eustice, R. M., Kim, A., Englot, B., Johannsson, H., Kaess, M., & Leonard, J. J.(2012). Advanced perception, navigation and planning for autonomous in-water ship hull inspection. The International Journal of Robotics Research,\n                    31(12), 1445\u20131464.","DOI":"10.1177\/0278364912461059"},{"issue":"5\u20136","key":"9610_CR30","doi-asserted-by":"crossref","first-page":"431","DOI":"10.1177\/0278364906065378","volume":"25","author":"A Howard","year":"2006","unstructured":"Howard, A., Parker, L. E., & Sukhatme, G. S. (2006). Experiments with a large heterogeneous mobile robot team: Exploration, mapping, deployment and detection. The International Journal of Robotics Research, 25(5\u20136), 431\u2013447.","journal-title":"The International Journal of Robotics Research"},{"key":"9610_CR31","doi-asserted-by":"crossref","unstructured":"Janou\u0161ek, P., & Faigl, J. (2013). Speeding up coverage queries in 3D multi-goal path planning. In 2013 IEEE international conference on robotics and automation (ICRA) (Vol. 1. IEEE, pp. 5082\u20135087).","DOI":"10.1109\/ICRA.2013.6631303"},{"issue":"7","key":"9610_CR32","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1177\/0278364911406761","volume":"30","author":"S Karaman","year":"2011","unstructured":"Karaman, S., & Frazzoli, E. (2011). Sampling-based algorithms for optimal motion planning. The International Journal of Robotics Research, 30(7), 846\u2013894.","journal-title":"The International Journal of Robotics Research"},{"key":"9610_CR33","doi-asserted-by":"crossref","unstructured":"Khanna, R., Moller, M., Pfeifer, J., Liebisch, F., Walter, A., & Siegwart, R. (2015). Beyond point clouds-3d mapping and field parameter measurements using uavs. In 2015 IEEE 20th conference on emerging technologies & factory automation (ETFA) (pp. 1\u20134). IEEE.","DOI":"10.1109\/ETFA.2015.7301583"},{"issue":"1","key":"9610_CR34","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1016\/0921-8890(91)90014-C","volume":"8","author":"B Kuipers","year":"1991","unstructured":"Kuipers, B., & Byun, Y.-T. (1991). A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations. Robotics and Autonomous Systems, 8(1), 47\u201363.","journal-title":"Robotics and Autonomous Systems"},{"key":"9610_CR35","unstructured":"LaValle, S. M.(1998) Rapidly-exploring random trees a new tool for path planning."},{"key":"9610_CR36","unstructured":"Li, A. Q., Amigoni, F., & Basilico, N. (2012). Searching for optimal off-line exploration paths in grid environments for a robot with limited visibility. AAAI."},{"key":"9610_CR37","doi-asserted-by":"crossref","unstructured":"Lynen, S., Achtelik, M. W., Weiss, S., Chli, M., & Siegwart, R. (2013). A robust and modular multi-sensor fusion approach applied to mav navigation. In 2013 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 3923\u20133929). IEEE.","DOI":"10.1109\/IROS.2013.6696917"},{"key":"9610_CR38","doi-asserted-by":"crossref","unstructured":"Nikolic, J., Burri, M., Rehder, J., Leutenegger, S., Huerzeler, C., & Siegwart, R. (2013). A UAV system for inspection of industrial facilities. In IEEE aerospace conference.","DOI":"10.1109\/AERO.2013.6496959"},{"key":"9610_CR39","doi-asserted-by":"crossref","unstructured":"Omari, S., Gohl, P., Burri, M., Achtelik, M., & Siegwart, R. (2014). Visual industrial inspection using aerial robots. In 2014 3rd international conference on applied robotics for the power industry (CARPI) (pp. 1\u20135). IEEE.","DOI":"10.1109\/CARPI.2014.7030056"},{"key":"9610_CR40","doi-asserted-by":"crossref","unstructured":"Papadopoulos, G., Kurniawati, H., Patrikalakis, N. M.(2013). Asymptotically optimal inspection planning using systems with differential constraints. In 2013 IEEE international conference on robotics and automation (ICRA) (pp. 4126\u20134133). IEEE.","DOI":"10.1109\/ICRA.2013.6631159"},{"issue":"10","key":"9610_CR41","doi-asserted-by":"crossref","first-page":"1016","DOI":"10.1109\/34.799908","volume":"21","author":"R Pito","year":"1999","unstructured":"Pito, R. (1999). A solution to the next best view problem for automated surface acquisition. IEEE Transactions on Pattern Analysis and Machine Intelligence, 21(10), 1016\u20131030.","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"issue":"1","key":"9610_CR42","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1016\/S0020-0255(02)00224-4","volume":"145","author":"J Rosenblatt","year":"2002","unstructured":"Rosenblatt, J., Williams, S., & Durrant-Whyte, H. (2002). A behavior-based architecture for autonomous underwater exploration. Information Sciences, 145(1), 69\u201387.","journal-title":"Information Sciences"},{"issue":"3","key":"9610_CR43","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1016\/j.robot.2003.09.004","volume":"45","author":"H Surmann","year":"2003","unstructured":"Surmann, H., N\u00fcchter, A., & Hertzberg, J. (2003). An autonomous mobile robot with a 3d laser range finder for 3d exploration and digitalization of indoor environments. Robotics and Autonomous Systems, 45(3), 181\u2013198.","journal-title":"Robotics and Autonomous Systems"},{"key":"9610_CR44","doi-asserted-by":"crossref","first-page":"159","DOI":"10.5772\/58759","volume":"11","author":"JI Vasquez-Gomez","year":"2014","unstructured":"Vasquez-Gomez, J. I., Sucar, L. E., Murrieta-Cid, R., & Lopez-Damian, E. (2014). Volumetric next best view planning for 3d object reconstruction with positioning error. International Journal of Advanced Robotic Systems, 11, 159.","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"3","key":"9610_CR45","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1109\/34.584097","volume":"19","author":"P Whaite","year":"1997","unstructured":"Whaite, P., & Ferrie, F. P. (1997). Autonomous exploration: Driven by uncertainty. IEEE Transactions on Pattern Analysis and Machine Intelligence, 19(3), 193\u2013205.","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"9610_CR46","doi-asserted-by":"crossref","unstructured":"Yamauchi, B.(1997). A frontier-based approach for autonomous exploration. In Proceedings of the 1997 IEEE international symposium on computational intelligence in robotics and automation (CIRA\u201997) (pp. 146\u2013151). IEEE.","DOI":"10.1109\/CIRA.1997.613851"},{"key":"9610_CR47","doi-asserted-by":"crossref","unstructured":"Yoder, L., & Scherer, S. (2016). Autonomous exploration for infrastructure modeling with a micro aerial vehicle. In Field and service robotics (pp. 427\u2013440). Springer.","DOI":"10.1007\/978-3-319-27702-8_28"},{"issue":"5","key":"9610_CR48","doi-asserted-by":"crossref","first-page":"758","DOI":"10.1002\/rob.21504","volume":"31","author":"R Zlot","year":"2014","unstructured":"Zlot, R., & Bosse, M. (2014). Efficient large-scale three-dimensional mobile mapping for underground mines. Journal of Field Robotics, 31(5), 758\u2013779.","journal-title":"Journal of Field Robotics"},{"issue":"1","key":"9610_CR49","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1177\/0278364906061160","volume":"25","author":"R Zlot","year":"2006","unstructured":"Zlot, R., & Stentz, A. (2006). Market-based multirobot coordination for complex tasks. The International Journal of Robotics Research, 25(1), 73\u2013101.","journal-title":"The International Journal of Robotics Research"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-016-9610-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-016-9610-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-016-9610-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2018,2,7]],"date-time":"2018-02-07T12:05:10Z","timestamp":1518005110000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-016-9610-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,11,11]]},"references-count":49,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2018,2]]}},"alternative-id":["9610"],"URL":"https:\/\/doi.org\/10.1007\/s10514-016-9610-0","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,11,11]]}}}