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To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex environments. To address this issue, this article introduces a general informative path planning framework for monitoring scenarios using an aerial robot, focusing on problems in which the value of sensor information is unevenly distributed in a target area and unknown a priori. The approach is capable of learning and focusing on regions of interest via adaptation to map either discrete or continuous variables on the terrain using variable-resolution data received from probabilistic sensors. During a mission, the terrain maps built online are used to plan information-rich trajectories in continuous 3-D space by optimizing initial solutions obtained by a coarse grid search. Extensive simulations show that our approach is more efficient than existing methods. We also demonstrate its real-time application on a photorealistic mapping scenario using a publicly available dataset and a proof of concept for an agricultural monitoring task.<\/jats:p>","DOI":"10.1007\/s10514-020-09903-2","type":"journal-article","created":{"date-parts":[[2020,2,4]],"date-time":"2020-02-04T10:03:06Z","timestamp":1580810586000},"page":"889-911","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":163,"title":["An informative path planning framework for UAV-based terrain monitoring"],"prefix":"10.1007","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8830-6033","authenticated-orcid":false,"given":"Marija","family":"Popovi\u0107","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Teresa","family":"Vidal-Calleja","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gregory","family":"Hitz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jen Jen","family":"Chung","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Inkyu","family":"Sa","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Juan","family":"Nieto","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,2,4]]},"reference":[{"key":"9903_CR1","unstructured":"Arora, S., Choudhury, S., & Scherer, S. 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