{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T15:31:29Z","timestamp":1772206289870,"version":"3.50.1"},"reference-count":56,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2022,8,16]],"date-time":"2022-08-16T00:00:00Z","timestamp":1660608000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2022,8,16]],"date-time":"2022-08-16T00:00:00Z","timestamp":1660608000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["NSF NRI-1830399"],"award-info":[{"award-number":["NSF NRI-1830399"]}],"id":[{"id":"10.13039\/100000001","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":[[2022,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper considers persistent monitoring of environmental phenomena using unmanned aerial vehicles (UAVs). The objective is to generate periodic dynamically feasible UAV trajectories that minimize the estimation uncertainty at a set of points of interest in the environment. We develop an optimization algorithm that iterates between determining the observation periods for a set of ordered points of interest and optimizing a continuous UAV trajectory to meet the required observation periods and UAV dynamics constraints. The interest-point visitation order is determined using a Traveling Salesman Problem (TSP), followed by a greedy optimization algorithm to determine the number of observations that minimizes the maximum steady-state eigenvalue of a Kalman filter estimator. Given the interest-point observation periods and visitation order, a minimum-jerk trajectory is generated from a bi-level optimization, formulated as a convex quadratically constrained quadratic program. The resulting B-spline trajectory is guaranteed to be feasible, meeting the observation duration, maximum velocity and acceleration, region enter and exit constraints. The feasible trajectories outperform existing methods by achieving comparable observability at up to 47% higher travel speeds, resulting in lower maximum estimation uncertainty.<\/jats:p>","DOI":"10.1007\/s10846-022-01676-3","type":"journal-article","created":{"date-parts":[[2022,8,16]],"date-time":"2022-08-16T12:03:05Z","timestamp":1660651385000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Trajectory Planning and Optimization for Minimizing Uncertainty in Persistent Monitoring Applications"],"prefix":"10.1007","volume":"106","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8107-7074","authenticated-orcid":false,"given":"Michael","family":"Ostertag","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nikolay","family":"Atanasov","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tajana","family":"Rosing","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,8,16]]},"reference":[{"key":"1676_CR1","doi-asserted-by":"publisher","unstructured":"Alvear, O., Zema, N.R., Natalizio, E., Calafate, C.T.: Using uav-based systems to monitor air pollution in areas with poor accessibility. J. Adv. Transp. 2017. https:\/\/doi.org\/10.1155\/2017\/8204353 (2017)","DOI":"10.1155\/2017\/8204353"},{"issue":"6","key":"1676_CR2","doi-asserted-by":"publisher","first-page":"1693","DOI":"10.1007\/s11036-018-1065-4","volume":"23","author":"O Alvear","year":"2018","unstructured":"Alvear, O., Calafate, C.T., Zema, N.R., Natalizio, E., Hern\u00e1ndez-Orallo, E., Cano, J. -C., Manzoni, P.: A discretized approach to air pollution monitoring using uav-based sensing. Mob. Netw. Appl. 23(6), 1693\u20131702 (2018). https:\/\/doi.org\/10.1007\/s11036-018-1065-4","journal-title":"Mob. Netw. Appl."},{"issue":"8","key":"1676_CR3","doi-asserted-by":"publisher","first-page":"1310","DOI":"10.3390\/s16081310","volume":"16","author":"RS Allison","year":"2016","unstructured":"Allison, R.S., Johnston, J.M., Craig, G., Jennings, S.: Airborne optical and thermal remote sensing for wildfire detection and monitoring. Sensors 16(8), 1310 (2016). https:\/\/doi.org\/10.3390\/s16081310","journal-title":"Sensors"},{"key":"1676_CR4","doi-asserted-by":"publisher","unstructured":"Bushnaq, O.M., Chaaban, A., Al-Naffouri, T.Y.: The role of uav-iot networks in future wildfire detection. IEEE Internet of Things Journal. https:\/\/doi.org\/10.1109\/JIOT.2021.3077593 (2021)","DOI":"10.1109\/JIOT.2021.3077593"},{"issue":"6","key":"1676_CR5","doi-asserted-by":"publisher","first-page":"614","DOI":"10.1016\/j.compenvurbsys.2012.03.002","volume":"36","author":"YE Aslan","year":"2012","unstructured":"Aslan, Y.E., Korpeoglu, I., Ulusoy, \u00d6.: A framework for use of wireless sensor networks in forest fire detection and monitoring. Comput. Environ. Urban. Syst. 36(6), 614\u2013625 (2012). https:\/\/doi.org\/10.1016\/j.compenvurbsys.2012.03.002","journal-title":"Comput. Environ. Urban. Syst."},{"issue":"6","key":"1676_CR6","doi-asserted-by":"publisher","first-page":"1381","DOI":"10.1109\/TAC.2010.2095970","volume":"56","author":"J Le Ny","year":"2011","unstructured":"Le Ny, J., Feron, E., Dahleh, M.A.: Scheduling continuous-time kalman filters. IEEE Trans. Autom. Control 56(6), 1381\u20131394 (2011). https:\/\/doi.org\/10.1109\/TAC.2010.2095970","journal-title":"IEEE Trans. Autom. Control"},{"key":"1676_CR7","doi-asserted-by":"publisher","first-page":"282","DOI":"10.1016\/j.automatica.2015.08.022","volume":"61","author":"ST Jawaid","year":"2015","unstructured":"Jawaid, S.T., Smith, S.L.: Submodularity and greedy algorithms in sensor scheduling for linear dynamical systems. Automatica 61, 282\u2013288 (2015). https:\/\/doi.org\/10.1016\/j.automatica.2015.08.022","journal-title":"Automatica"},{"key":"1676_CR8","doi-asserted-by":"publisher","first-page":"335","DOI":"10.1016\/j.automatica.2017.04.018","volume":"81","author":"AB Asghar","year":"2017","unstructured":"Asghar, A.B., Jawaid, S.T., Smith, S.L.: A complete greedy algorithm for infinite-horizon sensor scheduling. Automatica 81, 335\u2013341 (2017). https:\/\/doi.org\/10.1016\/j.automatica.2017.04.018","journal-title":"Automatica"},{"key":"1676_CR9","doi-asserted-by":"publisher","first-page":"202","DOI":"10.1016\/j.automatica.2016.12.025","volume":"78","author":"H Zhang","year":"2017","unstructured":"Zhang, H., Ayoub, R., Sundaram, S.: Sensor selection for kalman filtering of linear dynamical systems: complexity, limitations and greedy algorithms. Automatica 78, 202\u2013210 (2017). https:\/\/doi.org\/10.1016\/j.automatica.2016.12.025","journal-title":"Automatica"},{"issue":"1-2","key":"1676_CR10","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1016\/S0034-4257(02)00076-7","volume":"83","author":"C Justice","year":"2002","unstructured":"Justice, C., Giglio, L., Korontzi, S., Owens, J., Morisette, J., Roy, D., Descloitres, J., Alleaume, S., Petitcolin, F., Kaufman, Y.: The modis fire products. Remote Sens. Environ. 83(1-2), 244\u2013262 (2002). https:\/\/doi.org\/10.1016\/S0034-4257(02)00076-7","journal-title":"Remote Sens. Environ."},{"key":"1676_CR11","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1016\/j.rse.2012.09.001","volume":"127","author":"A Koltunov","year":"2012","unstructured":"Koltunov, A., Ustin, S.L., Prins, E.M.: On timeliness and accuracy of wildfire detection by the goes wf-abba algorithm over california during the 2006 fire season. Remote Sens. Environ. 127, 194\u2013209 (2012). https:\/\/doi.org\/10.1016\/j.rse.2012.09.001","journal-title":"Remote Sens. Environ."},{"key":"1676_CR12","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1016\/j.rse.2013.12.008","volume":"143","author":"W Schroeder","year":"2014","unstructured":"Schroeder, W., Oliva, P., Giglio, L., Csiszar, I.A.: The new viirs 375 m active fire detection data product: Algorithm description and initial assessment. Remote Sens. Environ. 143, 85\u201396 (2014). https:\/\/doi.org\/10.1016\/j.rse.2013.12.008","journal-title":"Remote Sens. Environ."},{"key":"1676_CR13","doi-asserted-by":"publisher","first-page":"436","DOI":"10.1016\/j.rse.2016.07.021","volume":"184","author":"A Koltunov","year":"2016","unstructured":"Koltunov, A., Ustin, S.L., Quayle, B., Schwind, B., Ambrosia, V.G., Li, W.: The development and first validation of the goes early fire detection (goes-efd) algorithm. Remote Sens. Environ. 184, 436\u2013453 (2016). https:\/\/doi.org\/10.1016\/j.rse.2016.07.021","journal-title":"Remote Sens. Environ."},{"issue":"2","key":"1676_CR14","doi-asserted-by":"publisher","first-page":"410","DOI":"10.1109\/TRO.2011.2174493","volume":"28","author":"SL Smith","year":"2012","unstructured":"Smith, S.L., Schwager, M., Rus, D.: Persistent robotic tasks: Monitoring and sweeping in changing environments. IEEE Trans. Robot. 28(2), 410\u2013426 (2012). https:\/\/doi.org\/10.1109\/TRO.2011.2174493","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"1676_CR15","doi-asserted-by":"publisher","first-page":"947","DOI":"10.1109\/TAC.2012.2225539","volume":"58","author":"CG Cassandras","year":"2013","unstructured":"Cassandras, C.G., Lin, X., Ding, X.: An optimal control approach to the multi-agent persistent monitoring problem. IEEE Trans. Autom. Control 58(4), 947\u2013961 (2013). https:\/\/doi.org\/10.1109\/TAC.2012.2225539","journal-title":"IEEE Trans. Autom. Control"},{"issue":"6","key":"1676_CR16","doi-asserted-by":"publisher","first-page":"1663","DOI":"10.1016\/j.automatica.2014.04.011","volume":"50","author":"C Song","year":"2014","unstructured":"Song, C., Liu, L., Feng, G., Xu, S.: Optimal control for multi-agent persistent monitoring. Automatica 50(6), 1663\u20131668 (2014). https:\/\/doi.org\/10.1016\/j.automatica.2014.04.011","journal-title":"Automatica"},{"key":"1676_CR17","doi-asserted-by":"publisher","unstructured":"Atanasov, N., Le Ny, J., Daniilidis, K., Pappas, G.J.: Information Acquisition with Sensing Robots: Algorithms and Error Bounds. In: Robotics and Automation (ICRA), IEEE International Conference On, Pp. 6447\u20136454. https:\/\/doi.org\/10.1109\/ICRA.2014.6907811 (2014)","DOI":"10.1109\/ICRA.2014.6907811"},{"key":"1676_CR18","doi-asserted-by":"publisher","unstructured":"Lin, X., Cassandras, C.G.: An optimal control approach to the multi-agent persistent monitoring problem in two-dimensional spaces. IEEE Trans. Autom. Control 60(6), 1659\u20131664 (2015). https:\/\/doi.org\/10.1109\/TAC.2014.2359712","DOI":"10.1109\/TAC.2014.2359712"},{"key":"1676_CR19","doi-asserted-by":"publisher","unstructured":"Lan, X., Schwager, M.: Rapidly exploring random cycles: Persistent estimation of spatiotemporal fields with multiple sensing robots. IEEE Trans. Robot. 32(5), 1230\u20131244 (2016). https:\/\/doi.org\/10.1109\/TRO.2016.2596772","DOI":"10.1109\/TRO.2016.2596772"},{"key":"1676_CR20","doi-asserted-by":"crossref","unstructured":"Zhou, N., Cassandras, C.G., Yu, X., Andersson, S.B.: Optimal event-driven multi-agent persistent monitoring with graph-limited mobility. IFAC-PapersOnLine 50(1), 2181\u20132186 (2017)","DOI":"10.1016\/j.ifacol.2017.08.278"},{"key":"1676_CR21","doi-asserted-by":"publisher","unstructured":"Yu, X., Andersson, S.B., Zhou, N., Cassandras, C.G.: Optimal dwell times for persistent monitoring of a finite set of targets. In: American Control Conference (ACC). https:\/\/doi.org\/10.23919\/ACC.2017.7963817, vol. 2017, pp 5544\u20135549. IEEE (2017)","DOI":"10.23919\/ACC.2017.7963817"},{"key":"1676_CR22","doi-asserted-by":"publisher","unstructured":"Ostertag, M., Atanasov, N., Rosing, T.: Robust velocity control for minimum steady state uncertainty in persistent monitoring applications. In: 2019 American Control Conference (ACC). https:\/\/doi.org\/10.23919\/ACC.2019.8814376, pp 2501\u20132508. IEEE (2019)","DOI":"10.23919\/ACC.2019.8814376"},{"key":"1676_CR23","doi-asserted-by":"publisher","unstructured":"Pinto, S.C., Andersson, S.B., Hendrickx, J.M., Cassandras, C.G.: Optimal periodic multi-agent persistent monitoring of a finite set of targets with uncertain states. In: 2020 American Control Conference (ACC). https:\/\/doi.org\/10.23919\/ACC45564.2020.9147376, pp 5207\u20135212. IEEE (2020)","DOI":"10.23919\/ACC45564.2020.9147376"},{"key":"1676_CR24","doi-asserted-by":"publisher","unstructured":"Metia, S., Oduro, S., Sinha, A.: Pollutant profile estimation using unscented Kalman filter. In: Advances in Control, Signal Processing and Energy Systems. https:\/\/doi.org\/10.1007\/978-981-32-9346-5_2, pp 17\u201328. Springer (2020)","DOI":"10.1007\/978-981-32-9346-5_2"},{"key":"1676_CR25","doi-asserted-by":"publisher","unstructured":"Garg, S., Ayanian, N.: Persistent monitoring of stochastic spatio-temporal phenomena with a small team of robots. In: Robotics: Science and Systems (RSS) Conference. https:\/\/doi.org\/10.15607\/RSS.2014.X.038, vol. 2014. Robotics: Science and Systems (2014)","DOI":"10.15607\/RSS.2014.X.038"},{"issue":"3","key":"1676_CR26","doi-asserted-by":"publisher","first-page":"2154","DOI":"10.1109\/TIE.2018.2838088","volume":"66","author":"S Zhao","year":"2018","unstructured":"Zhao, S., Ma, Y., Huang, B.: Probabilistic monitoring of sensors in state-space with variational bayesian inference. IEEE Trans. Ind. Electron. 66(3), 2154\u20132163 (2018). https:\/\/doi.org\/10.1109\/TIE.2018.2838088","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"2","key":"1676_CR27","doi-asserted-by":"publisher","first-page":"272","DOI":"10.1111\/j.2517-6161.1959.tb00338.x","volume":"21","author":"J Kiefer","year":"1959","unstructured":"Kiefer, J.: Optimum experimental designs. Journal of the Royal Statistical Society: Series B (Methodological) 21(2), 272\u2013304 (1959). https:\/\/doi.org\/10.1111\/j.2517-6161.1959.tb00338.x","journal-title":"Journal of the Royal Statistical Society: Series B (Methodological)"},{"issue":"3","key":"1676_CR28","doi-asserted-by":"publisher","first-page":"2594","DOI":"10.1109\/TAES.2012.6237611","volume":"48","author":"C Yang","year":"2012","unstructured":"Yang, C., Kaplan, L., Blasch, E.: Performance measures of covariance and information matrices in resource management for target state estimation. IEEE Trans. Aerosp. Electron. Syst. 48(3), 2594\u20132613 (2012). https:\/\/doi.org\/10.1109\/TAES.2012.6237611","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"10","key":"1676_CR29","doi-asserted-by":"publisher","first-page":"2825","DOI":"10.1109\/TAC.2014.2314222","volume":"59","author":"L Zhao","year":"2014","unstructured":"Zhao, L., Zhang, W., Hu, J., Abate, A., Tomlin, C.J.: On the optimal solutions of the infinite-horizon linear sensor scheduling problem. IEEE Trans. Autom. Control 59(10), 2825\u20132830 (2014). https:\/\/doi.org\/10.1109\/TAC.2014.2314222","journal-title":"IEEE Trans. Autom. Control"},{"key":"1676_CR30","doi-asserted-by":"publisher","unstructured":"Hari, S.K.K., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S.G., Casbeer, D.: Bounding algorithms for persistent monitoring of targets using unmanned vehicles. In: 2019 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 615\u2013621. https:\/\/doi.org\/10.1109\/ICUAS.2019.8798134 (2019)","DOI":"10.1109\/ICUAS.2019.8798134"},{"key":"1676_CR31","unstructured":"Hari, S.K.K., Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S.G., Casbeer, D.: Persistent monitoring of dynamically changing environments using an unmanned vehicle (2018)"},{"issue":"2","key":"1676_CR32","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1109\/TSP.2008.2007095","volume":"57","author":"S Joshi","year":"2008","unstructured":"Joshi, S., Boyd, S.: Sensor selection via convex optimization. IEEE Trans. Signal Process. 57 (2), 451\u2013462 (2008). https:\/\/doi.org\/10.1109\/TSP.2008.2007095","journal-title":"IEEE Trans. Signal Process."},{"issue":"4","key":"1676_CR33","doi-asserted-by":"publisher","first-page":"791","DOI":"10.1007\/s11676-015-0088-y","volume":"26","author":"L Tang","year":"2015","unstructured":"Tang, L., Shao, G.: Drone remote sensing for forestry research and practices. J. Forestry Res. 26(4), 791\u2013797 (2015). https:\/\/doi.org\/10.1007\/s11676-015-0088-y","journal-title":"J. Forestry Res."},{"key":"1676_CR34","doi-asserted-by":"publisher","unstructured":"Portugal, D., Pippin, C., Rocha, R.P., Christensen, H.: Finding optimal routes for multi-robot patrolling in generic graphs. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 363\u2013369. https:\/\/doi.org\/10.1109\/IROS.2014.6942585 (2014)","DOI":"10.1109\/IROS.2014.6942585"},{"issue":"3","key":"1676_CR35","doi-asserted-by":"publisher","first-page":"72","DOI":"10.1177\/027836498600500304","volume":"5","author":"K Kant","year":"1986","unstructured":"Kant, K., Zucker, S.W.: Toward efficient trajectory planning: The path-velocity decomposition. Int. J. Robot. Res. 5(3), 72\u201389 (1986). https:\/\/doi.org\/10.1177\/027836498600500304","journal-title":"Int. J. Robot. Res."},{"issue":"5","key":"1676_CR36","doi-asserted-by":"publisher","first-page":"1106","DOI":"10.1109\/TRO.2016.2593450","volume":"32","author":"J Yu","year":"2016","unstructured":"Yu, J., Schwager, M., Rus, D.: Correlated orienteering problem and its application to persistent monitoring tasks. IEEE Trans. Robot. 32(5), 1106\u20131118 (2016). https:\/\/doi.org\/10.1109\/TRO.2016.2593450","journal-title":"IEEE Trans. Robot."},{"issue":"9","key":"1676_CR37","doi-asserted-by":"publisher","first-page":"1271","DOI":"10.1177\/0278364914533443","volume":"33","author":"GA Hollinger","year":"2014","unstructured":"Hollinger, G.A., Sukhatme, G.S.: Sampling-based robotic information gathering algorithms. Int. J. Robot. Res. 33(9), 1271\u20131287 (2014). https:\/\/doi.org\/10.1177\/0278364914533443","journal-title":"Int. J. Robot. Res."},{"issue":"6","key":"1676_CR38","doi-asserted-by":"publisher","first-page":"658","DOI":"10.1177\/0278364919844575","volume":"38","author":"M Ghaffari Jadidi","year":"2019","unstructured":"Ghaffari Jadidi, M., Valls Miro, J., Dissanayake, G.: Sampling-based incremental information gathering with applications to robotic exploration and environmental monitoring. Int. J. Robot. Res. 38(6), 658\u2013685 (2019). https:\/\/doi.org\/10.1177\/0278364919844575","journal-title":"Int. J. Robot. Res."},{"key":"1676_CR39","doi-asserted-by":"publisher","unstructured":"Atanasov, N., Le Ny, J., Daniilidis, K., Pappas, G.J.: Decentralized active information acquisition: Theory and application to multi-robot slam. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). https:\/\/doi.org\/10.1109\/ICRA.2015.7139863, pp 4775\u20134782. IEEE (2015)","DOI":"10.1109\/ICRA.2015.7139863"},{"issue":"6","key":"1676_CR40","doi-asserted-by":"publisher","first-page":"1294","DOI":"10.1109\/TRO.2015.2479878","volume":"31","author":"MW Mueller","year":"2015","unstructured":"Mueller, M.W., Hehn, M., D\u2019Andrea, R.: A computationally efficient motion primitive for quadrocopter trajectory generation. IEEE Trans. Robot. 31(6), 1294\u20131310 (2015). https:\/\/doi.org\/10.1109\/TRO.2015.2479878","journal-title":"IEEE Trans. Robot."},{"key":"1676_CR41","doi-asserted-by":"publisher","unstructured":"Liu, S., Atanasov, N., Mohta, K., Kumar, V.: Search-based motion planning for quadrotors using linear quadratic minimum time control. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). https:\/\/doi.org\/10.1109\/IROS.2017.8206119, pp 2872\u20132879. IEEE (2017)","DOI":"10.1109\/IROS.2017.8206119"},{"key":"1676_CR42","doi-asserted-by":"publisher","unstructured":"Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: 2011 IEEE International Conference on Robotics and Automation. https:\/\/doi.org\/10.1109\/ICRA.2011.5980409, pp 2520\u20132525. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"1676_CR43","doi-asserted-by":"publisher","unstructured":"Tang, M., Tong, R., Wang, Z., Manocha, D.: Fast and Exact Continuous Collision Detection with Bernstein Sign Classification. ACM Transactions on Graphics 33(6). https:\/\/doi.org\/10.1145\/2661229.2661237 (2014)","DOI":"10.1145\/2661229.2661237"},{"key":"1676_CR44","doi-asserted-by":"publisher","unstructured":"Richter, C., Bry, A., Roy, N.: Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In: Inaba, M., Corke, P. (eds.) Robotics Research: The 16th International Symposium ISRR. Springer Tracts in Advanced Robotics. https:\/\/doi.org\/10.1007\/978-3-319-28872-7_37, pp 649\u2013666. Springer (2016)","DOI":"10.1007\/978-3-319-28872-7_37"},{"issue":"1","key":"1676_CR45","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1146\/annurev-control-060117-105149","volume":"1","author":"S Tang","year":"2018","unstructured":"Tang, S., Kumar, V.: Autonomous flight. Annual Review of Control Robotics, and Autonomous Systems 1(1), 29\u201352 (2018). https:\/\/doi.org\/10.1146\/annurev-control-060117-105149","journal-title":"Annual Review of Control Robotics, and Autonomous Systems"},{"issue":"3","key":"1676_CR46","doi-asserted-by":"publisher","first-page":"1688","DOI":"10.1109\/LRA.2017.2663526","volume":"2","author":"S Liu","year":"2017","unstructured":"Liu, S., Watterson, M., Mohta, K., Sun, K., Bhattacharya, S., Taylor, C.J., Kumar, V.: Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-D complex environments. IEEE Robotics and Automation Letters 2(3), 1688\u20131695 (2017). https:\/\/doi.org\/10.1109\/LRA.2017.2663526","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"3","key":"1676_CR47","doi-asserted-by":"publisher","first-page":"2439","DOI":"10.1109\/LRA.2018.2795654","volume":"3","author":"S Liu","year":"2018","unstructured":"Liu, S., Mohta, K., Atanasov, N., Kumar, V.: Search-Based motion planning for aggressive flight in SE(3). IEEE Robot. Autom. Lett. 3(3), 2439\u20132446 (2018). https:\/\/doi.org\/10.1109\/LRA.2018.2795654","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"11","key":"1676_CR48","doi-asserted-by":"publisher","first-page":"995","DOI":"10.1002\/(SICI)1099-1239(199809)8:11<995::AID-RNC373>3.0.CO;2-W","volume":"8","author":"MJ Van Nieuwstadt","year":"1998","unstructured":"Van Nieuwstadt, M.J., Murray, R.M.: Real-time trajectory generation for differentially flat systems. International Journal of Robust and Nonlinear Control 8(11), 995\u20131020 (1998). https:\/\/doi.org\/10.1002\/(SICI)1099-1239(199809)8:11%3C995::AID-RNC373%3E3.0.CO;2-W","journal-title":"International Journal of Robust and Nonlinear Control"},{"key":"1676_CR49","doi-asserted-by":"publisher","unstructured":"Ding, W., Gao, W., Wang, K., Shen, S.: An Efficient B-spline-Based Kinodynamic Replanning Framework for Quadrotors. https:\/\/doi.org\/10.1109\/TRO.2019.2926390 (2019)","DOI":"10.1109\/TRO.2019.2926390"},{"issue":"4","key":"1676_CR50","doi-asserted-by":"publisher","first-page":"3529","DOI":"10.1109\/LRA.2019.2927938","volume":"4","author":"B Zhou","year":"2019","unstructured":"Zhou, B., Gao, F., Wang, L., Liu, C., Shen, S.: Robust and efficient quadrotor trajectory generation for fast autonomous flight. IEEE Robotics and Automation Letters 4(4), 3529\u20133536 (2019). https:\/\/doi.org\/10.1109\/LRA.2019.2927938","journal-title":"IEEE Robotics and Automation Letters"},{"key":"1676_CR51","doi-asserted-by":"publisher","unstructured":"Tzoumas, V., Jadbabaie, A., Pappas, G.J.: Sensor placement for optimal kalman filtering: Fundamental limits, submodularity, and algorithms. In: 2016 American Control Conference (ACC). https:\/\/doi.org\/10.1109\/ACC.2016.7524914, pp 191\u2013196. IEEE (2016)","DOI":"10.1109\/ACC.2016.7524914"},{"issue":"1","key":"1676_CR52","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1109\/TAC.2020.2973774","volume":"66","author":"LF Chamon","year":"2020","unstructured":"Chamon, L.F., Pappas, G.J., Ribeiro, A.: Approximate supermodularity of kalman filter sensor selection. IEEE Trans. Autom. Control 66(1), 49\u201363 (2020). https:\/\/doi.org\/10.1109\/TAC.2020.2973774","journal-title":"IEEE Trans. Autom. Control"},{"key":"1676_CR53","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1016\/j.laa.2004.10.010","volume":"396","author":"E-W Chu","year":"2005","unstructured":"Chu, E.-W., Fan, H.-Y., Lin, W.-W.: A structure-preserving doubling algorithm for continuous-time algebraic riccati equations. Linear Algebra and Its Applications 396, 55\u201380 (2005). https:\/\/doi.org\/10.1016\/j.laa.2004.10.010","journal-title":"Linear Algebra and Its Applications"},{"key":"1676_CR54","unstructured":"Applegate, D., Bixby, R., Chvatal, V., Cook, W.: Concorde TSP solver (2006)"},{"key":"1676_CR55","unstructured":"MOSEK ApS: MOSEK Optimizer API for Python 9.3.7. https:\/\/docs.mosek.com\/latest\/pythonapi\/index.html(2019)"},{"key":"1676_CR56","doi-asserted-by":"publisher","unstructured":"Lee, T., Leok, M., McClamroch, N.H.: Geometric tracking control of a quadrotor uav on se (3). In: 49th IEEE Conference on Decision and Control (CDC). https:\/\/doi.org\/10.1109\/CDC.2010.5717652, pp 5420\u20135425. IEEE (2010)","DOI":"10.1109\/CDC.2010.5717652"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01676-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01676-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01676-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,22]],"date-time":"2022-09-22T12:29:17Z","timestamp":1663849757000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01676-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,16]]},"references-count":56,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,9]]}},"alternative-id":["1676"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01676-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,8,16]]},"assertion":[{"value":"6 January 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 June 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 August 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of Interests"}}],"article-number":"2"}}