{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T09:11:25Z","timestamp":1780391485923,"version":"3.54.1"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2022,10,25]],"date-time":"2022-10-25T00:00:00Z","timestamp":1666656000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,10,25]],"date-time":"2022-10-25T00:00:00Z","timestamp":1666656000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100014411","name":"center for unmanned aircraft systems","doi-asserted-by":"publisher","award":["1650465"],"award-info":[{"award-number":["1650465"]}],"id":[{"id":"10.13039\/100014411","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":[[2022,11]]},"DOI":"10.1007\/s10846-022-01751-9","type":"journal-article","created":{"date-parts":[[2022,10,25]],"date-time":"2022-10-25T06:03:05Z","timestamp":1666677785000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Online Aerial 2.5D Terrain Mapping and Active Aerial Vehicle Exploration for Ground Robot Navigation"],"prefix":"10.1007","volume":"106","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0821-6557","authenticated-orcid":false,"given":"Anthony","family":"Wagner","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"Peterson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"James","family":"Donnelly","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shivam","family":"Chourey","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kevin","family":"Kochersberger","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,10,25]]},"reference":[{"issue":"4","key":"1751_CR1","doi-asserted-by":"publisher","first-page":"217","DOI":"10.1260\/175682909790291492","volume":"1","author":"A Bachrach","year":"2009","unstructured":"Bachrach, A., He, R., Roy, N.: Autonomous flight in unknown indoor environments. Int. J. Micro Air Vehicles 1(4), 217\u2013228 (2009). https:\/\/doi.org\/10.1260\/175682909790291492","journal-title":"Int. J. Micro Air Vehicles"},{"issue":"9","key":"1751_CR2","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1145\/361002.361007","volume":"18","author":"JL Bentley","year":"1975","unstructured":"Bentley, J.L.: Multidimensional binary search trees used for associative searching. Communications of the ACM 18(9), 509\u2013517 (1975)","journal-title":"Communications of the ACM"},{"issue":"3","key":"1751_CR3","doi-asserted-by":"publisher","first-page":"376","DOI":"10.1109\/TRO.2004.839232","volume":"21","author":"W Burgard","year":"2005","unstructured":"Burgard, W., Moors, M., Stachniss, C., Schneider, F.E.: Coordinated multi-robot exploration. IEEE Trans. Robot. 21(3), 376\u2013386 (2005). https:\/\/doi.org\/10.1109\/TRO.2004.839232","journal-title":"IEEE Trans. Robot."},{"key":"1751_CR4","doi-asserted-by":"publisher","unstructured":"Cesare, K., Skeele, R., Hollinger, G.: Multi-uav exploration with limited communication and battery. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 2230\u20132235 (2015). https:\/\/doi.org\/10.1109\/ICRA.2015.7139494","DOI":"10.1109\/ICRA.2015.7139494"},{"key":"1751_CR5","doi-asserted-by":"crossref","unstructured":"Davuluri, P., Chen, C.H.: Radio frequency interference due to usb3 connector radiation. In: 2013 IEEE International Symposium on Electromagnetic Compatibility, pp. 632\u2013635. IEEE (2013)","DOI":"10.1109\/ISEMC.2013.6670488"},{"key":"1751_CR6","unstructured":"Donnelly, J.J.: Semi-dense stereo reconstruction from aerial imagery for improved obstacle detection. Master\u2019s thesis, Virginia Tech (2019)"},{"key":"1751_CR7","unstructured":"(FEMA), B.B.: Debris field in oklahoma (2008). https:\/\/commons.wikimedia.org\/wiki\/File:FEMA_-_35225_-_Debris_field_in_Oklahoma.jpg. Accessed 3 Jul 2019"},{"key":"1751_CR8","doi-asserted-by":"publisher","unstructured":"Ferranti, E., Trigoni, N., Levene, M.: Brick mortar: an on-line multi-agent exploration algorithm. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 761\u2013767 (2007). https:\/\/doi.org\/10.1109\/ROBOT.2007.363078","DOI":"10.1109\/ROBOT.2007.363078"},{"issue":"10\u201311","key":"1751_CR9","doi-asserted-by":"publisher","first-page":"829","DOI":"10.1177\/0278364902021010834","volume":"21","author":"HH Gonz\u00e1lez-Ba\u00f1os","year":"2002","unstructured":"Gonz\u00e1lez-Ba\u00f1os, H.H., Latombe, J.C.: Navigation strategies for exploring indoor environments. Int. J. Rob. Res. 21(10\u201311), 829\u2013848 (2002). https:\/\/doi.org\/10.1177\/0278364902021010834","journal-title":"Int. J. Rob. Res."},{"key":"1751_CR10","doi-asserted-by":"crossref","unstructured":"Haubeck, K., Prinz, T.: A uav-based low-cost stereo camera system for archaeological surveys\u2014experiences from doliche (turkey). Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci pp. 195\u2013200 (2013)","DOI":"10.5194\/isprsarchives-XL-1-W2-195-2013"},{"key":"1751_CR11","doi-asserted-by":"publisher","unstructured":"Hood, S., Benson, K., Hamod, P., Madison, D., O\u2019Kane, J.M., Rekleitis, I.: Bird\u2019s eye view: Cooperative exploration by ugv and uav. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 247\u2013255 (2017). https:\/\/doi.org\/10.1109\/ICUAS.2017.7991513","DOI":"10.1109\/ICUAS.2017.7991513"},{"key":"1751_CR12","doi-asserted-by":"publisher","unstructured":"Ju\u00e1rez, D.H., Chac\u00f3n, A., Espinosa, A., V\u00e1zquez, D., Moure, J.C., L\u00f3pez, A.M.: Embedded real-time stereo estimation via semi-global matching on the GPU. In: International Conference on Computational Science 2016, ICCS 2016, 6-8 June 2016, San Diego, California, USA, Procedia Computer Science, vol.\u00a080, pp. 143\u2013153 (2016). https:\/\/doi.org\/10.1016\/j.procs.2016.05.305","DOI":"10.1016\/j.procs.2016.05.305"},{"issue":"4","key":"1751_CR13","doi-asserted-by":"publisher","first-page":"427","DOI":"10.1007\/s10514-012-9298-8","volume":"33","author":"M Juli\u00e1","year":"2012","unstructured":"Juli\u00e1, M., Gil, A., Reinoso, O.: A comparison of path planning strategies for autonomous exploration and mapping of unknown environments. Auton. Robot. 33(4), 427\u2013444 (2012). https:\/\/doi.org\/10.1007\/s10514-012-9298-8","journal-title":"Auton. Robot."},{"key":"1751_CR14","doi-asserted-by":"publisher","unstructured":"Kalra, N., Ferguson, D., Stentz, A.: Hoplites: A market-based framework for planned tight coordination in multirobot teams. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 1170\u20131177 (2005). https:\/\/doi.org\/10.1109\/ROBOT.2005.1570274","DOI":"10.1109\/ROBOT.2005.1570274"},{"issue":"20","key":"1751_CR15","doi-asserted-by":"publisher","first-page":"1431","DOI":"10.1049\/el.2014.2227","volume":"50","author":"JH Kim","year":"2014","unstructured":"Kim, J.H., Kwon, J.W., Seo, J.: Multi-uav-based stereo vision system without gps for ground obstacle mapping to assist path planning of ugv. Electron. Lett. 50(20), 1431\u20131432 (2014)","journal-title":"Electron. Lett."},{"key":"1751_CR16","doi-asserted-by":"crossref","unstructured":"Kim, P., Price, L.C., Park, J., Cho, Y.K.: Uav-ugv cooperative 3d environmental mapping. In: ASCE International Conference on Computing in Civil Engineering 2019American Society of Civil Engineers (2019)","DOI":"10.1061\/9780784482438.049"},{"key":"1751_CR17","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877","volume-title":"Planning Algorithms","author":"SM LaValle","year":"2006","unstructured":"LaValle, S.M.: Planning Algorithms. Cambridge University Press, New York, NY, USA (2006)"},{"key":"1751_CR18","doi-asserted-by":"crossref","unstructured":"Miki, T., Khrapchenkov, P., Hori, K.: Uav\/ugv autonomous cooperation: Uav assists ugv to climb a cliff by attaching a tether. In: 2019 International Conference on Robotics and Automation (ICRA), pp. 8041\u20138047. IEEE (2019)","DOI":"10.1109\/ICRA.2019.8794265"},{"key":"1751_CR19","doi-asserted-by":"crossref","unstructured":"Milella, A., Reina, G., Foglia, M.M.: A multi-baseline stereo system for scene segmentation in natural environments. In: 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), pp. 1\u20136. IEEE (2013)","DOI":"10.1109\/TePRA.2013.6556370"},{"issue":"2","key":"1751_CR20","doi-asserted-by":"publisher","first-page":"630","DOI":"10.3390\/s18020630","volume":"18","author":"J Peterson","year":"2018","unstructured":"Peterson, J., Chaudhry, H., Abdelatty, K., Bird, J., Kochersberger, K.: Online aerial terrain mapping for ground robot navigation. Sensors 18(2), 630 (2018)","journal-title":"Sensors"},{"issue":"1","key":"1751_CR21","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1016\/j.biosystemseng.2009.09.013","volume":"105","author":"F Rovira-M\u00e1s","year":"2010","unstructured":"Rovira-M\u00e1s, F., Wang, Q., Zhang, Q.: Design parameters for adjusting the visual field of binocular stereo cameras. Biosyst. Eng. 105(1), 59\u201370 (2010)","journal-title":"Biosyst. Eng."},{"key":"1751_CR22","doi-asserted-by":"publisher","unstructured":"Salas, W.L., Valent\u00edn-Coronado, L.M., Becerra, I., Ram\u00edrez-Pedraza, A.: Collaborative object search using heterogeneous mobile robots. In: 2021 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC), vol.\u00a05, pp. 1\u20136 (2021). https:\/\/doi.org\/10.1109\/ROPEC53248.2021.9668148","DOI":"10.1109\/ROPEC53248.2021.9668148"},{"key":"1751_CR23","doi-asserted-by":"crossref","unstructured":"Schneider, J., Eling, C., Klingbeil, L., Kuhlmann, H., F\u00f6rstner, W., Stachniss, C.: Fast and effective online pose estimation and mapping for uavs. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4784\u20134791. IEEE (2016)","DOI":"10.1109\/ICRA.2016.7487682"},{"key":"1751_CR24","doi-asserted-by":"publisher","unstructured":"Shim, D., Chung, H., Kim, H.J., Sastry, S.: Autonomous exploration in unknown urban environments for unmanned aerial vehicles. IEEE Robotics & Automation Magazine 13 (2005). https:\/\/doi.org\/10.2514\/6.2005-6478","DOI":"10.2514\/6.2005-6478"},{"key":"1751_CR25","doi-asserted-by":"publisher","unstructured":"Umari, H., Mukhopadhyay, S.: Autonomous robotic exploration based on multiple rapidly-exploring randomized trees. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1396\u20131402 (2017). https:\/\/doi.org\/10.1109\/IROS.2017.8202319","DOI":"10.1109\/IROS.2017.8202319"},{"key":"1751_CR26","doi-asserted-by":"crossref","unstructured":"Warren, M., McKinnon, D., Upcroft, B.: Online calibration of stereo rigs for long-term autonomy. In: 2013 IEEE International Conference on Robotics and Automation, pp. 3692\u20133698. IEEE (2013)","DOI":"10.1109\/ICRA.2013.6631096"},{"key":"1751_CR27","unstructured":"Yamauchi, B.: A frontier-based approach for autonomous exploration. In: In Proceedings of the IEEE International Symposium on Computational Intelligence, Robotics and Automation, pp. 146\u2013151 (1997)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01751-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01751-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01751-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,28]],"date-time":"2022-11-28T18:30:03Z","timestamp":1669660203000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01751-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,25]]},"references-count":27,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,11]]}},"alternative-id":["1751"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01751-9","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10,25]]},"assertion":[{"value":"2 August 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 October 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 October 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 declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of Interest"}}],"article-number":"58"}}