{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T21:16:47Z","timestamp":1762377407950,"version":"3.37.3"},"reference-count":36,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2023,7,1]],"date-time":"2023-07-01T00:00:00Z","timestamp":1688169600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,7,1]],"date-time":"2023-07-01T00:00:00Z","timestamp":1688169600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,7]]},"DOI":"10.1007\/s10846-023-01835-0","type":"journal-article","created":{"date-parts":[[2023,7,10]],"date-time":"2023-07-10T15:02:35Z","timestamp":1689001355000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["UAV Indoor Exploration for Fire-Target Detection and Extinguishing"],"prefix":"10.1007","volume":"108","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4368-5172","authenticated-orcid":false,"given":"Halil Utku","family":"Unlu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6079-5488","authenticated-orcid":false,"given":"Dimitris","family":"Chaikalis","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5834-5405","authenticated-orcid":false,"given":"Athanasios","family":"Tsoukalas","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3709-2810","authenticated-orcid":false,"given":"Anthony","family":"Tzes","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,10]]},"reference":[{"key":"1835_CR1","doi-asserted-by":"crossref","unstructured":"Achtelik, M., Doth, K.M., Gurdan, D., Stumpf, J.: Design of a multi rotor MAV with regard to efficiency, dynamics and redundancy. In: AIAA Guidance, Navigation, and Control Conference, p. 4779 (2012)","DOI":"10.2514\/6.2012-4779"},{"key":"1835_CR2","doi-asserted-by":"publisher","first-page":"270","DOI":"10.1016\/j.comcom.2019.10.014","volume":"149","author":"S Aggarwal","year":"2020","unstructured":"Aggarwal, S., Kumar, N.: Path planning techniques for Unmanned Aerial Vehicles: A review, solutions, and challenges. Computer Communications 149, 270\u2013299 (2020)","journal-title":"Computer Communications"},{"issue":"1","key":"1835_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-021-01442-x","volume":"103","author":"T Almeida","year":"2021","unstructured":"Almeida, T., Santos, V., Mozos, O.M., Louren\u00e7o, B.: Comparative analysis of deep neural networks for the detection and decoding of data matrix landmarks in cluttered indoor environments. Journal of Intelligent & Robotic Systems 103(1), 1\u201314 (2021)","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"1835_CR4","unstructured":"Andersen, M.S., Dahl, J., Vandenberghe, L., et\u00a0al.: CVXOPT: A Python package for convex optimization. abel. ee. ucla. edu\/cvxopt 88 (2013)"},{"issue":"1","key":"1835_CR5","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s40064-016-3573-7","volume":"5","author":"MO Aqel","year":"2016","unstructured":"Aqel, M.O., Marhaban, M.H., Saripan, M.I., Ismail, N.B.: Review of visual odometry: types, approaches, challenges, and applications. SpringerPlus 5(1), 1\u201326 (2016)","journal-title":"SpringerPlus"},{"key":"1835_CR6","unstructured":"Blum, H.: A transformation for extracting new descriptions of shape. Models for the perception of speech and visual form pp. 362\u2013380 (1967)"},{"key":"1835_CR7","unstructured":"Bouabdallah, S., Siegwart, R.: Backstepping and sliding-mode techniques applied to an indoor micro quadrotor. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 2247\u20132252. IEEE (2005)"},{"key":"1835_CR8","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103800","volume":"142","author":"JA Delamer","year":"2021","unstructured":"Delamer, J.A., Watanabe, Y., Chanel, C.P.: Safe path planning for UAV urban operation under GNSS signal occlusion risk. Robotics and Autonomous Systems 142, 103800 (2021)","journal-title":"Robotics and Autonomous Systems"},{"key":"1835_CR9","doi-asserted-by":"crossref","unstructured":"Erez, T., Tassa, Y., Todorov, E.: Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX. In: 2015 IEEE International Conference on Robotics and Automation (ICRA) (2015)","DOI":"10.1109\/ICRA.2015.7139807"},{"key":"1835_CR10","doi-asserted-by":"crossref","unstructured":"Furrer, F., Burri, M., Achtelik, M., Siegwart, R.: Rotors-a modular Gazebo MAV simulator framework. In: Robot operating system (ROS), pp. 595\u2013625. Springer, Cham (2016)","DOI":"10.1007\/978-3-319-26054-9_23"},{"issue":"7","key":"1835_CR11","doi-asserted-by":"publisher","first-page":"1323","DOI":"10.1007\/s10514-018-9736-3","volume":"42","author":"F Han","year":"2018","unstructured":"Han, F., Wang, H., Huang, G., Zhang, H.: Sequence-based sparse optimization methods for long-term loop closure detection in visual SLAM. Autonomous Robots 42(7), 1323\u20131335 (2018)","journal-title":"Autonomous Robots"},{"issue":"3","key":"1835_CR12","doi-asserted-by":"publisher","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.: OctoMap: An efficient probabilistic 3D mapping framework based on octrees. Autonomous robots 34(3), 189\u2013206 (2013)","journal-title":"Autonomous robots"},{"key":"1835_CR13","doi-asserted-by":"crossref","unstructured":"Ivanovic, A., Car, M., Orsag, M., Bogdan, S.: Exploiting null space in aerial manipulation through model-in-the-loop motion planning. In: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 686\u2013693. IEEE (2020)","DOI":"10.1109\/ICUAS48674.2020.9213914"},{"key":"1835_CR14","doi-asserted-by":"crossref","unstructured":"Koenig, N., Howard, A.: Design and use paradigms for Gazebo, an open-source multi-robot simulator. In: 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE Cat. No. 04CH37566), vol.\u00a03, pp. 2149\u20132154. IEEE","DOI":"10.1109\/IROS.2004.1389727"},{"issue":"2","key":"1835_CR15","doi-asserted-by":"publisher","first-page":"416","DOI":"10.1002\/rob.21831","volume":"36","author":"M Labb\u00e9","year":"2019","unstructured":"Labb\u00e9, M., Michaud, F.: RTAB-Map as an open-source LiDAR and visual simultaneous localization and mapping library for large-scale and long-term online operation. Journal of Field Robotics 36(2), 416\u2013446 (2019)","journal-title":"Journal of Field Robotics"},{"key":"1835_CR16","doi-asserted-by":"crossref","unstructured":"Liu, C., Lee, S., Varnhagen, S., Tseng, H.E.: Path planning for autonomous vehicles using model predictive control. In: 2017 IEEE Intelligent Vehicles Symposium (IV), pp. 174\u2013179. IEEE (2017)","DOI":"10.1109\/IVS.2017.7995716"},{"key":"1835_CR17","doi-asserted-by":"crossref","unstructured":"Maini, P., Sujit, P.: Path planning for a UAV with kinematic constraints in the presence of polygonal obstacles. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 62\u201367. IEEE (2016)","DOI":"10.1109\/ICUAS.2016.7502625"},{"key":"1835_CR18","doi-asserted-by":"publisher","first-page":"89120","DOI":"10.1109\/ACCESS.2021.3089900","volume":"9","author":"JP Matos-Carvalho","year":"2021","unstructured":"Matos-Carvalho, J.P., Santos, R., Tomic, S., Beko, M.: GTRS-based algorithm for UAV navigation in indoor environments employing range measurements and odometry. IEEE Access 9, 89120\u201389132 (2021)","journal-title":"IEEE Access"},{"key":"1835_CR19","unstructured":"de\u00a0Melo, M.S.P., da\u00a0Silva\u00a0Neto, J.G., da\u00a0Silva, P.J.L., Teixeira, J.M.X.N., Teichrieb, V.: Analysis and Comparison of Robotics 3D Simulators. In: 2019 21st Symposium on Virtual and Augmented Reality (SVR) (2019)"},{"key":"1835_CR20","unstructured":"Nist\u00e9r, D., Naroditsky, O., Bergen, J.: Visual odometry. In: Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., vol.\u00a01, pp. I\u2013I. Ieee (2004)"},{"key":"1835_CR21","doi-asserted-by":"publisher","first-page":"643","DOI":"10.1016\/j.procs.2018.07.099","volume":"133","author":"RP Padhy","year":"2018","unstructured":"Padhy, R.P., Verma, S., Ahmad, S., Choudhury, S.K., Sa, P.K.: Deep neural network for autonomous UAV navigation in indoor corridor environments. Procedia Comput. Sci. 133, 643\u2013650 (2018)","journal-title":"Procedia Comput. Sci."},{"key":"1835_CR22","doi-asserted-by":"crossref","unstructured":"Platt, J.T.: Comparative Analysis of Ros-Unity3D and Ros-Gazebo for Mobile Ground Robot Simulation. Ph.D. thesis, University of Alabama Libraries (2022)","DOI":"10.1007\/s10846-022-01766-2"},{"issue":"5","key":"1835_CR23","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TITS.2016.2604240","volume":"18","author":"Y Rasekhipour","year":"2016","unstructured":"Rasekhipour, Y., Khajepour, A., Chen, S.K., Litkouhi, B.: A potential field-based model predictive path-planning controller for autonomous road vehicles. IEEE Trans. Intell. Trans. Syst. 18(5), 1255\u20131267 (2016)","journal-title":"IEEE Trans. Intell. Trans. Syst."},{"issue":"6","key":"1835_CR24","doi-asserted-by":"publisher","first-page":"1263","DOI":"10.1007\/s10514-017-9690-5","volume":"42","author":"A Santamaria-Navarro","year":"2018","unstructured":"Santamaria-Navarro, A., Loianno, G., Sola, J., Kumar, V., Andrade-Cetto, J.: Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors. Autonomous robots 42(6), 1263\u20131280 (2018)","journal-title":"Autonomous robots"},{"key":"1835_CR25","unstructured":"Smith, R., et\u00a0al.: Open dynamics engine (2007)"},{"issue":"3","key":"1835_CR26","first-page":"599","volume":"35","author":"M Sniedovich","year":"2006","unstructured":"Sniedovich, M.: Dijkstra\u2019s algorithm revisited: the dynamic programming connexion. Control Cybern. 35(3), 599\u2013620 (2006)","journal-title":"Control Cybern."},{"key":"1835_CR27","doi-asserted-by":"crossref","unstructured":"Svacha, J., Mohta, K., Watterson, M., Loianno, G., Kumar, V.: Inertial velocity and attitude estimation for quadrotors. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1\u20139. IEEE (2018)","DOI":"10.1109\/IROS.2018.8593616"},{"key":"1835_CR28","doi-asserted-by":"crossref","unstructured":"Tebbe, J., Gao, Y., Sastre-Rienietz, M., Zell, A.: A table tennis robot system using an industrial Kuka robot arm. In: German Conference on Pattern Recognition, pp. 33\u201345. Springer (2018)","DOI":"10.1007\/978-3-030-12939-2_3"},{"key":"1835_CR29","unstructured":"Technologies, U.: Unity real-time development platform (2022). https:\/\/unity.com\/"},{"key":"1835_CR30","doi-asserted-by":"crossref","unstructured":"Unlu, H.U., Chaikalis, D., Tsoukalas, A., Tzes, A.: UAV-Navigation using Map Slicing and Safe Path Computation. In: 2023 9th International Conference on Automation, Robotics and Applications (ICARA) pp.\u00a0208-212. IEEE (2023)","DOI":"10.1109\/ICARA56516.2023.10125893"},{"key":"1835_CR31","doi-asserted-by":"crossref","unstructured":"Walker, O., Vanegas, F., Gonzalez, F., Koenig, S.: A deep reinforcement learning framework for UAV navigation in indoor environments. In: 2019 IEEE Aerospace Conference, pp. 1\u201314. IEEE (2019)","DOI":"10.1109\/AERO.2019.8742226"},{"key":"1835_CR32","doi-asserted-by":"crossref","unstructured":"Wang, F., Wang, K., Lai, S., Phang, S.K., Chen, B.M., Lee, T.H.: An efficient UAV navigation solution for confined but partially known indoor environments. In: 11th IEEE International Conference on Control & Automation (ICCA), pp. 1351\u20131356. IEEE (2014)","DOI":"10.1109\/ICCA.2014.6871120"},{"key":"1835_CR33","first-page":"1","volume":"2016","author":"L Yang","year":"2016","unstructured":"Yang, L., Qi, J., Song, D., Xiao, J., Han, J., Xia, Y.: Survey of Robot 3D Path Planning Algorithms. Journal of Control Science and Engineering 2016, 1\u201322 (2016)","journal-title":"Journal of Control Science and Engineering"},{"issue":"4","key":"1835_CR34","doi-asserted-by":"publisher","first-page":"811","DOI":"10.1109\/TIM.2017.2789139","volume":"67","author":"K Zhang","year":"2018","unstructured":"Zhang, K., Cao, Z., Liu, J., Fang, Z., Tan, M.: Real-time visual measurement with opponent hitting behavior for table tennis robot. IEEE Transactions on Instrumentation and Measurement 67(4), 811\u2013820 (2018)","journal-title":"IEEE Transactions on Instrumentation and Measurement"},{"issue":"12","key":"1835_CR35","doi-asserted-by":"publisher","first-page":"3195-","DOI":"10.1109\/TIM.2010.2047128","volume":"59","author":"Z Zhang","year":"2010","unstructured":"Zhang, Z., Xu, D., Tan, M.: Visual measurement and prediction of ball trajectory for table tennis robot. IEEE Transactions on Instrumentation and Measurement 59(12), 3195--3205 (2010)","journal-title":"IEEE Transactions on Instrumentation and Measurement"},{"key":"1835_CR36","doi-asserted-by":"crossref","unstructured":"Zhao, W., Queralta, J.P., Westerlund, T.: Sim-to-real transfer in deep reinforcement learning for robotics: a survey. In: 2020 IEEE Symposium Series on Computational Intelligence (SSCI), pp. 737\u2013744. IEEE (2020)","DOI":"10.1109\/SSCI47803.2020.9308468"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01835-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01835-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01835-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,23]],"date-time":"2024-10-23T22:32:14Z","timestamp":1729722734000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01835-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7]]},"references-count":36,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,7]]}},"alternative-id":["1835"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01835-0","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2023,7]]},"assertion":[{"value":"30 November 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 February 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 July 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No ethical approval is required for publishing this research.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interest"}}],"article-number":"54"}}