{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T18:34:36Z","timestamp":1772044476402,"version":"3.50.1"},"reference-count":60,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2019,9,12]],"date-time":"2019-09-12T00:00:00Z","timestamp":1568246400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,9,12]],"date-time":"2019-09-12T00:00:00Z","timestamp":1568246400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100004263","name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado do Rio Grande do Sul","doi-asserted-by":"publisher","award":["16\/2551-0000\/472-2"],"award-info":[{"award-number":["16\/2551-0000\/472-2"]}],"id":[{"id":"10.13039\/501100004263","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004263","name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado do Rio Grande do Sul","doi-asserted-by":"publisher","award":["16\/2551-0000\/472-2"],"award-info":[{"award-number":["16\/2551-0000\/472-2"]}],"id":[{"id":"10.13039\/501100004263","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004263","name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado do Rio Grande do Sul","doi-asserted-by":"publisher","award":["16\/2551-0000\/472-2"],"award-info":[{"award-number":["16\/2551-0000\/472-2"]}],"id":[{"id":"10.13039\/501100004263","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["308487\/2017-6"],"award-info":[{"award-number":["308487\/2017-6"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,9]]},"DOI":"10.1007\/s10846-019-01090-2","type":"journal-article","created":{"date-parts":[[2019,9,12]],"date-time":"2019-09-12T06:02:56Z","timestamp":1568268176000},"page":"499-515","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Strategies for Patrolling Missions with Multiple UAVs"],"prefix":"10.1007","volume":"99","author":[{"given":"Kristofer S.","family":"Kappel","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8134-4272","authenticated-orcid":false,"given":"Tau\u00e3 M.","family":"Cabreira","sequence":"additional","affiliation":[]},{"given":"Jo\u00e3o L.","family":"Marins","sequence":"additional","affiliation":[]},{"given":"Lisane B.","family":"de Brisolara","sequence":"additional","affiliation":[]},{"suffix":"Jr.","given":"Paulo R.","family":"Ferreira","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,9,12]]},"reference":[{"key":"1090_CR1","doi-asserted-by":"crossref","unstructured":"Lottes, P., Khanna, R., Pfeifer, J., Siegwart, R., Stachniss, C.: UAV-Based crop and weed classification for smart farming. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 3024\u20133031. IEEE (2017)","DOI":"10.1109\/ICRA.2017.7989347"},{"issue":"5","key":"1090_CR2","doi-asserted-by":"publisher","first-page":"667","DOI":"10.1002\/rob.20403","volume":"28","author":"A Barrientos","year":"2011","unstructured":"Barrientos, A., Colorado, J., del Cerro, J., Martinez, A., Rossi, C., Sanz, D., Valente, J.: Aerial remote sensing in agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots. J. Field Robot. 28(5), 667\u2013689 (2011). ISSN 1556-4959","journal-title":"J. Field Robot."},{"issue":"1-4","key":"1090_CR3","doi-asserted-by":"publisher","first-page":"563","DOI":"10.1007\/s10846-010-9497-5","volume":"61","author":"I Maza","year":"2011","unstructured":"Maza, I., Caballero, F., Capit\u00e1n, J., Mart\u00ednez-de Dios, J.R., Ollero, A.: Experimental results in multi-UAV coordination for disaster management and civil security applications. J. Intell. Robot. Syst. 61(1-4), 563\u2013585 (2011)","journal-title":"J. Intell. Robot. Syst."},{"key":"1090_CR4","doi-asserted-by":"crossref","unstructured":"Pham, H.X., La, H.M., Feil-Seifer, D., Deans, M.: A distributed control framework for a team of unmanned aerial vehicles for dynamic wildfire tracking. In: 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6648\u20136653, IEEE (2017)","DOI":"10.1109\/IROS.2017.8206579"},{"issue":"6","key":"1090_CR5","doi-asserted-by":"publisher","first-page":"351","DOI":"10.1080\/00207720500438480","volume":"37","author":"DW Casbeer","year":"2006","unstructured":"Casbeer, D.W., Kingston, D.B., Beard, R.W., McLain, T.W.: Cooperative forest fire surveillance using a team of small unmanned air vehicles. Int. J. Syst. Sci. 37(6), 351\u2013360 (2006)","journal-title":"Int. J. Syst. Sci."},{"key":"1090_CR6","doi-asserted-by":"crossref","unstructured":"Renzaglia, A., Reymann, C., Lacroix, S.: Monitoring the Evolution of Clouds with UAVs.\/ In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 278\u2013283. IEEE (2016)","DOI":"10.1109\/ICRA.2016.7487145"},{"key":"1090_CR7","unstructured":"Hefferan, B., Cliff, O.M., Fitch, R.: Adversarial patrolling with reactive point processes. In: Proceedings of the Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia, pp. 5\u20137 (2016)"},{"key":"1090_CR8","doi-asserted-by":"crossref","unstructured":"Basilico, N., Carpin, S.: Deploying teams of heterogeneous UAVs in cooperative two-level surveillance missions. In: 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 610\u2013615. IEEE (2015)","DOI":"10.1109\/IROS.2015.7353435"},{"key":"1090_CR9","unstructured":"Andersen, H.L.: Path planning for search and rescue mission using multicopters, Master\u2019s Thesis, Institutt for teknisk kybernetikk, Norway (2014)"},{"key":"1090_CR10","unstructured":"Nattero, C., Recchiuto, C. T., Sgorbissa, A., Wanderlingh, F.: Coverage Algorithms for Search and Rescue with UAV Drones. In: Workshop of the XIII AI*IA Symposium on Artificial Intelligence (2014)"},{"issue":"1-4","key":"1090_CR11","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1007\/s10846-010-9489-5","volume":"61","author":"A Cesetti","year":"2011","unstructured":"Cesetti, A., Frontoni, E., Mancini, A., Ascani, A., Zingaretti, P., Longhi, S.: A visual global positioning system for unmanned aerial vehicles used in photogrammetric applications. J. Intell. Robot. Syst. 61 (1-4), 157\u2013168 (2011)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1090_CR12","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1023\/A:1016639210559","volume":"31","author":"H Choset","year":"2001","unstructured":"Choset, H.: Coverage for robotics \u2013 a survey of recent results. Ann. Math. Artif. Intell. 31(1), 113\u2013126 (2001). ISSN 1573-7470","journal-title":"Ann. Math. Artif. Intell."},{"key":"1090_CR13","unstructured":"Chevaleyre, Y.: Theoretical analysis of the multi-agent patrolling problem. In: Intelligent Agent Technology, 2004. Proceedings. IEEE\/WIC\/ACM International Conference on (IAT 2004), pp. 302\u2013308. IEEE (2004)"},{"key":"1090_CR14","doi-asserted-by":"crossref","unstructured":"Vincent, P., Rubin, I.: A framework and analysis for cooperative search using UAV swarms. In: Proceedings of the 2004 ACM Symposium on Applied Computing, SAC \u201904, pp. 79\u201386, New York, ACM. ISBN 1-58113-812-1","DOI":"10.1145\/967900.967919"},{"key":"1090_CR15","unstructured":"Stalmakou, A.: UAV\/UAS path planning for ice management information gathering. Master\u2019s Thesis, Institutt for teknisk kybernetikk, Norway (2011)"},{"issue":"1","key":"1090_CR16","doi-asserted-by":"publisher","first-page":"329","DOI":"10.1007\/s10846-012-9716-3","volume":"70","author":"JJ Acevedo","year":"2013","unstructured":"Acevedo, J.J., Arrue, B.C., Maza, I., Ollero, A.: Cooperative large area surveillance with a team of aerial mobile robots for long endurance missions. J. Intell. Robot. Syst. 70(1), 329\u2013345 (2013). ISSN 1573-0409","journal-title":"J. Intell. Robot. Syst."},{"key":"1090_CR17","doi-asserted-by":"crossref","unstructured":"Lim, S., Bang, H.: Waypoint guidance of cooperative UAVs for intelligence, surveillance, and reconnaissance. In: 2009 IEEE International Conference on Control and Automation, Pages 291\u2013296. IEEE (2009)","DOI":"10.1109\/ICCA.2009.5410404"},{"issue":"2","key":"1090_CR18","doi-asserted-by":"publisher","first-page":"136","DOI":"10.5139\/JASS.2010.11.2.136","volume":"11","author":"S Lim","year":"2010","unstructured":"Lim, S., Bang, H.: Waypoint planning algorithm using cost functions for surveillance. Int. J Aeronaut. Space Sci. 11(2), 136\u2013144 (2010)","journal-title":"Int. J Aeronaut. Space Sci."},{"key":"1090_CR19","doi-asserted-by":"crossref","unstructured":"Sampaio, P., Sousa, R., Rocha, A.: New patrolling strategies with short-range perception. In: Proceedings of the 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (2016)","DOI":"10.1109\/LARS-SBR.2016.33"},{"key":"1090_CR20","doi-asserted-by":"crossref","unstructured":"Cabreira, T.M., Kappel, K.S., Ferreira, P.R., de Brisolara, L.B.: An energy-aware real-time search approach for cooperative patrolling missions with multi-UAVs. In: 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), pp. 254\u2013259. IEEE (2018)","DOI":"10.1109\/LARS\/SBR\/WRE.2018.00054"},{"key":"1090_CR21","doi-asserted-by":"crossref","unstructured":"Araujo, J.F., Sujit, P.B., Sousa, J.B.: Multiple UAV area decomposition and coverage. In: 2013 IEEE Symposium on Computational Intelligence for Security and Defense Applications (CISDA), pp. 30\u201337. IEEE (2013)","DOI":"10.1109\/CISDA.2013.6595424"},{"issue":"2-4","key":"1090_CR22","doi-asserted-by":"publisher","first-page":"655","DOI":"10.1007\/s10846-017-0498-5","volume":"88","author":"M Ramasamy","year":"2017","unstructured":"Ramasamy, M., Ghose, D.: A heuristic learning algorithm for preferential area surveillance by unmanned aerial vehicles. J. Intell. Robot. Syst. 88(2-4), 655\u2013681 (2017)","journal-title":"J. Intell. Robot. Syst."},{"key":"1090_CR23","doi-asserted-by":"crossref","unstructured":"Maza, I., Ollero, A.: Multiple UAV cooperative searching operation using polygon area decomposition and efficient coverage algorithms. In: Distributed Autonomous Robotic Systems 6, pp. 221\u2013230. Springer, Japan (2007)","DOI":"10.1007\/978-4-431-35873-2_22"},{"key":"1090_CR24","doi-asserted-by":"crossref","unstructured":"Torres, M., Pelta, D.A., Verdegay, J.L., Torres, J.C.: Coverage path planning with unmanned aerial vehicles for 3D terrain reconstruction. Expert Syst. Appl., pp. 441\u2013451, 2016. ISSN 0957-4174","DOI":"10.1016\/j.eswa.2016.02.007"},{"key":"1090_CR25","unstructured":"Jiao, Y.-S., Wang, X.-M., Chen, H., Li, Y.: Research on the coverage path planning of UAVs for polygon areas. In: 2010 5Th IEEE Conference on Industrial Electronics and Applications, pp. 1467\u20131472. IEEE (2010)"},{"issue":"9","key":"1090_CR26","doi-asserted-by":"publisher","first-page":"699","DOI":"10.1049\/el.2015.4551","volume":"52","author":"D Li","year":"2016","unstructured":"Li, D., Wang, X., Sun, T.: Energy-optimal coverage path planning on topographic map for environment survey with unmanned aerial vehicles. Electron. Lett. 52(9), 699\u2013701 (2016)","journal-title":"Electron. Lett."},{"key":"1090_CR27","doi-asserted-by":"crossref","unstructured":"Di Franco, C., Buttazzo, G.: Coverage path planning for UAVs photogrammetry with energy and resolution constraints. Journal of Intelligent & Robotic Systems, pp. 1\u201318 (2016)","DOI":"10.1109\/ICARSC.2015.17"},{"issue":"4","key":"1090_CR28","doi-asserted-by":"publisher","first-page":"3662","DOI":"10.1109\/LRA.2018.2854967","volume":"3","author":"T Milech Cabreira","year":"2018","unstructured":"Milech Cabreira, T., Di Franco, C., Ferreira, P.R. Jr, Buttazzo, G.C.: Energy-aware spiral coverage path planning for UAV photogrammetric applications. IEEE Robot. Autom. Lett. 3(4), 3662\u20133668 (2018). ISSN 2377-3766. https:\/\/doi.org\/10.1109\/LRA.2018.2854967","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1090_CR29","doi-asserted-by":"crossref","unstructured":"Balampanis, F., Maza, I., Ollero, A.: Area decomposition, partition and coverage with multiple remotely piloted aircraft systems operating in coastal regions. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 275\u2013283. IEEE (2016)","DOI":"10.1109\/ICUAS.2016.7502602"},{"key":"1090_CR30","doi-asserted-by":"crossref","unstructured":"Balampanis, F., Maza, I., Ollero, A.: Spiral-like coverage path planning for multiple heterogeneous UAS operating in coastal regions. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 617\u2013624. IEEE (2017)","DOI":"10.1109\/ICUAS.2017.7991461"},{"issue":"4","key":"1090_CR31","doi-asserted-by":"publisher","first-page":"808","DOI":"10.3390\/s17040808","volume":"17","author":"F Balampanis","year":"2017","unstructured":"Balampanis, F., Maza, I., Ollero, A.: Coastal areas division and coverage with multiple UAVs for remote sensing. Sensors 17(4), 808 (2017)","journal-title":"Sensors"},{"issue":"2-4","key":"1090_CR32","doi-asserted-by":"publisher","first-page":"751","DOI":"10.1007\/s10846-017-0559-9","volume":"88","author":"F Balampanis","year":"2017","unstructured":"Balampanis, F., Maza, I., Ollero, A.: Area partition for coastal regions with multiple UAS. J. Intell. Robot. Syst. 88(2-4), 751\u2013766 (2017)","journal-title":"J. Intell. Robot. Syst."},{"key":"1090_CR33","doi-asserted-by":"crossref","unstructured":"Koenig, S., Liu, Y.: Terrain coverage with ant robots: a simulation study. In: Proceedings of the Fifth International Conference on Autonomous Agents, pp. 600\u2013607 (2001)","DOI":"10.1145\/375735.376463"},{"key":"1090_CR34","doi-asserted-by":"crossref","unstructured":"Cabreira, T., Ferreira, P.R. Jr: Terrain coverage with UAVs: Real-time search and geometric approaches applied to an abstract model of random events. In: Proceedings of the 13rd Latin American Robotics Symposium. IEEE (2016)","DOI":"10.1109\/LARS-SBR.2016.32"},{"key":"1090_CR35","doi-asserted-by":"publisher","first-page":"163","DOI":"10.4028\/www.scientific.net\/AMM.613.163","volume":"613","author":"J Zelenka","year":"2014","unstructured":"Zelenka, J., Kasanicky\u0300, T.: Insect pheromone strategy for the robots coordination. Appl. Mech. Mater. 613, 163\u2013171 (2014)","journal-title":"Appl. Mech. Mater."},{"key":"1090_CR36","doi-asserted-by":"crossref","unstructured":"Zelenka, J., Kasanicky\u0300, T.: Outdoor UAV Control and Coordination System Supported by Biological Inspired Method. In: 2014 23Rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), pp. 1\u20137 (2014)","DOI":"10.1109\/RAAD.2014.7002224"},{"key":"1090_CR37","unstructured":"Floreano, D., Mattiussi, C.: Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies. MIT Press (2008)"},{"key":"1090_CR38","doi-asserted-by":"crossref","unstructured":"Zelenka, J., Kasanicky\u0300, T.: Insect pheromone strategy for the robots coordination - reaction on loss communication. In: 2014 IEEE 15Th International Symposium on Computational Intelligence and Informatics (CINTI), pp. 79\u201383. IEEE (2014)","DOI":"10.1109\/CINTI.2014.7028653"},{"key":"1090_CR39","doi-asserted-by":"crossref","unstructured":"Albani, D., Nardi, D., Trianni, V.: Field coverage and weed mapping by UAV swarms. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4319\u20134325. IEEE (2017)","DOI":"10.1109\/IROS.2017.8206296"},{"issue":"5853","key":"1090_CR40","doi-asserted-by":"publisher","first-page":"1088","DOI":"10.1126\/science.1145803","volume":"318","author":"R Pfeifer","year":"2007","unstructured":"Pfeifer, R., Lungarella, M., Iida, F.: Self-organization, embodiment, and biologically inspired robotics. Science 318(5853), 1088\u20131093 (2007)","journal-title":"Science"},{"key":"1090_CR41","unstructured":"Pirzadeh, A., Snyder, W.: A Unified Solution to Coverage and Search in Explored and Unexplored Terrains Using Indirect Control. In: Proceedings., 1990 IEEE International Conference on Robotics and Automation, 1990, pp. 2113\u20132119. IEEE (1990)"},{"issue":"2-3","key":"1090_CR42","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1016\/0004-3702(90)90054-4","volume":"42","author":"RE Korf","year":"1990","unstructured":"Korf, R.E.: Real-time heuristic search. Artif. Intell. 42(2-3), 189\u2013211 (1990)","journal-title":"Artif. Intell."},{"key":"1090_CR43","unstructured":"Thrun, S.B.: Efficient exploration in reinforcement learning (1992)"},{"key":"1090_CR44","unstructured":"Wagner, I., Lindenbaum, M., Bruckstein, A.: On-line graph searching by a smell-oriented vertex process. In: Proceedings of the AAAI Workshop on On-Line Search, pp. 122\u2013125 (1997)"},{"key":"1090_CR45","unstructured":"Koenig, S., Simmons, R.G.: Easy and hard testbeds for real-time search algorithms. In: AAAI\/IAAI, Vol. 1, pp. 279\u2013285. Citeseer (1996)"},{"issue":"2","key":"1090_CR46","doi-asserted-by":"publisher","first-page":"297","DOI":"10.1109\/TRO.2011.2104510","volume":"27","author":"G Cannata","year":"2011","unstructured":"Cannata, G., Sgorbissa, A.: A minimalist algorithm for multirobot continuous coverage. IEEE Trans. Robot. 27(2), 297\u2013312 (2011)","journal-title":"IEEE Trans. Robot."},{"key":"1090_CR47","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software, Vol. 3, pp. 5. Kobe (2009)"},{"key":"1090_CR48","doi-asserted-by":"crossref","unstructured":"Piaggio, M., Sgorbissa, A., Zaccaria, R.: Programming real-time distributed multiple robotic systems. In: Robot Soccer World Cup, pp. 412\u2013423. Springer (1999)","DOI":"10.1007\/3-540-45327-X_34"},{"key":"1090_CR49","doi-asserted-by":"crossref","unstructured":"Khan, A., Yanmaz, E., Rinner, B.: Information merging in multi-UAV cooperative search. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 3122\u20133129. IEEE (2014)","DOI":"10.1109\/ICRA.2014.6907308"},{"key":"1090_CR50","doi-asserted-by":"crossref","unstructured":"Ramasamy, M., Ghose, D.: Learning-based preferential surveillance algorithm for persistent surveillance by unmanned aerial vehicles. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1032\u20131040. IEEE (2016)","DOI":"10.1109\/ICUAS.2016.7502678"},{"key":"1090_CR51","doi-asserted-by":"crossref","unstructured":"Kuiper, E., Nadjm-Tehrani, S.: Mobility models for UAV group reconnaissance applications. In: 2006 International Conference on Wireless and Mobile Communications (ICWMC\u201906), pp. 33\u201333. IEEE (2006)","DOI":"10.1109\/ICWMC.2006.63"},{"key":"1090_CR52","doi-asserted-by":"crossref","unstructured":"Rosalie, M., Danoy, G., Chaumette, S., Bouvry, P.: From random process to chaotic behavior in swarms of UAVs. In: 6Th ACM Symposium on Development and Analysis of Intelligent Vehicular Networks and Applications (2016)","DOI":"10.1145\/2989275.2989281"},{"key":"1090_CR53","doi-asserted-by":"crossref","unstructured":"Rosalie, M., Dentler, J.E., Danoy, G., Bouvry, P., Kannan, S., Olivares-Mendez, M.A., Voos, H.: Area exploration with a swarm of UAVs combining deterministic chaotic ant colony mobility with position MPC. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1392\u20131397. IEEE (2017)","DOI":"10.1109\/ICUAS.2017.7991418"},{"key":"1090_CR54","doi-asserted-by":"crossref","unstructured":"Rohmer, E., Singh, S.P.N., Freese, M.: V-REP: a versatile and scalable robot simulation framework. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1321\u20131326. IEEE (2013)","DOI":"10.1109\/IROS.2013.6696520"},{"key":"1090_CR55","doi-asserted-by":"crossref","unstructured":"Cheng, C.-T., Fallahi, K., Leung, H., Tse Chi, K.s: Cooperative path planner for UAVs using ACO algorithm with gaussian distribution functions. In: 2009 IEEE International Symposium on Circuits and Systems, pp. 173\u2013176. IEEE (2009)","DOI":"10.1109\/ISCAS.2009.5117713"},{"key":"1090_CR56","unstructured":"Paradzik, M., et al.: Multi-Agent search strategy based on digital pheromones for UAVs. In: Signal Processing and Communication Application Conference (SIU), 2016 24Th, pp. 233\u2013236. IEEE (2016)"},{"key":"1090_CR57","first-page":"433","volume":"34","author":"S Beucher","year":"1992","unstructured":"Beucher, S., Meyer, F.: The morphological approach to segmentation: the watershed transformation. Optical Engineering-New York-Marcel Dekker Incorporated- 34, 433\u2013433 (1992)","journal-title":"Optical Engineering-New York-Marcel Dekker Incorporated-"},{"key":"1090_CR58","unstructured":"Digi International Inc. (Digi). Digi xbee3 zigbee 3. https:\/\/www.digi.com\/products\/embedded-systems\/rf-modules\/2-4-ghz-modules\/xbee3-zigbee-3 , 2019 [Online; accessed April-02-2019]"},{"key":"1090_CR59","unstructured":"Digi International Inc. (Digi). Drone technologies disrupting industries, saving lives. https:\/\/www.digi.com\/customersuccesses\/draganfly , 2019 [Online; accessed April-02-2019]"},{"key":"1090_CR60","unstructured":"Sampaio, P.A.: Patrulha temporal: taxonomia, m\u00e9tricas e novas soluc\u00f5es. PhD thesis Universidade Federal de Pernambuco (2013)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01090-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01090-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01090-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,28]],"date-time":"2022-09-28T09:52:21Z","timestamp":1664358741000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01090-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,9,12]]},"references-count":60,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["1090"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01090-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,9,12]]},"assertion":[{"value":"28 May 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 August 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 September 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}