{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T14:30:28Z","timestamp":1774449028372,"version":"3.50.1"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T00:00:00Z","timestamp":1762387200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T00:00:00Z","timestamp":1762387200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["No.52475576\uff0cU24A20134"],"award-info":[{"award-number":["No.52475576\uff0cU24A20134"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["No.52475576\uff0cU24A20134"],"award-info":[{"award-number":["No.52475576\uff0cU24A20134"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["No.52475576\uff0cU24A20134"],"award-info":[{"award-number":["No.52475576\uff0cU24A20134"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["No.52475576\uff0cU24A20134"],"award-info":[{"award-number":["No.52475576\uff0cU24A20134"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["No.52475576\uff0cU24A20134"],"award-info":[{"award-number":["No.52475576\uff0cU24A20134"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2026,3]]},"DOI":"10.1007\/s41315-025-00503-w","type":"journal-article","created":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T08:00:56Z","timestamp":1762416056000},"page":"345-359","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Aerial-ground collaborative mapping and path planning algorithm for unmanned systems in dynamic environments"],"prefix":"10.1007","volume":"10","author":[{"given":"Shuolin","family":"Peng","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zai","family":"Luo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wensong","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Songbai","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,11,6]]},"reference":[{"key":"503_CR1","doi-asserted-by":"crossref","unstructured":"Ahmed, M.F., Fremont, V., Fantoni, I.: Active collaborative visual SLAM exploiting ORB features for cooperative path planning and frontier detection. In: Proceedings of the 2024 International Conference on Robotics and Automation, pp. 1\u201312. IEEE, Yokohama (2024). https:\/\/ieeexplore.ieee.org\/document\/10449412","DOI":"10.1109\/ICARCV63323.2024.10821699"},{"issue":"7","key":"503_CR2","doi-asserted-by":"publisher","DOI":"10.3390\/s20071880","volume":"20","author":"FH Ajeil","year":"2020","unstructured":"Ajeil, F.H., Ibraheem, I.K., Azar, A.T., Humaidi, A.J.: Grid-Based mobile robot path planning using Aging-Based ant colony optimization algorithm in static and dynamic environments. Sensors 20(7), 1880 (2020). https:\/\/doi.org\/10.3390\/s20071880","journal-title":"Sensors"},{"key":"503_CR3","first-page":"243","volume-title":"Aerial Shepherds: Coordination among UAVs and Swarms of Robots","author":"L Claimowicz","year":"2007","unstructured":"Claimowicz, L., Kumar, V.: Aerial Shepherds: Coordination among UAVs and Swarms of Robots, vol. 99, pp. 243\u2013252. In: Springer, Tokyo, Japan (2007)"},{"key":"503_CR4","first-page":"107500","volume":"108","author":"W Dong","year":"2021","unstructured":"Dong, W., Li, S., He, L., Xu, Y., Li, Y.: An improved grey Wolf optimizer algorithm for robot path planning. Appl. Soft Comput. 108, 107500 (2021)","journal-title":"Appl. Soft Comput."},{"key":"503_CR5","doi-asserted-by":"crossref","first-page":"1","DOI":"10.7551\/mitpress\/1290.001.0001","volume-title":"Ant Colony Optimization","author":"M Dorigo","year":"2004","unstructured":"Dorigo, M., St\u00fctzle, T.: Ant Colony Optimization, pp. 1\u2013256. MIT Press, Cambridge (2004)"},{"issue":"3","key":"503_CR6","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11721-021-00203-4","volume":"15","author":"M Dorigo","year":"2021","unstructured":"Dorigo, M., Blum, C., Gambardella, L.M.: Ant colony optimization: Foundations and recent trends. Swarm Intell. 15(3), 1\u201338 (2021). https:\/\/doi.org\/10.1007\/s11721-021-00203-4","journal-title":"Swarm Intell."},{"key":"503_CR7","volume":"204","author":"E Eshtehardian","year":"2022","unstructured":"Eshtehardian, E., Hashemi, S.A., Eshtehardian, A.: A continuous and optimized path planning method based on RRT* and B-spline curves. Expert Syst. Appl. 204, 117620 (2022)","journal-title":"Expert Syst. Appl."},{"issue":"1","key":"503_CR8","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1109\/100.580977","volume":"4","author":"D Fox","year":"1997","unstructured":"Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robotics & Automation Magazine 4(1), 23\u201333 (1997)","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"24","key":"503_CR9","doi-asserted-by":"publisher","first-page":"7190","DOI":"10.3390\/s20247190","volume":"20","author":"P Gao","year":"2020","unstructured":"Gao, P., Li, J., Wang, J., Meng, M., Liu, H.: A time decay dynamic occupancy grid mapping method based on radar and camera fusion. Sensors. 20(24), 7190 (2020). https:\/\/doi.org\/10.3390\/s20247190","journal-title":"Sensors"},{"issue":"3","key":"503_CR10","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. Auton. Robots. 34(3), 189\u2013206 (2013). https:\/\/doi.org\/10.1007\/s10514-012-9321-0","journal-title":"Auton. Robots."},{"key":"503_CR11","doi-asserted-by":"publisher","first-page":"120","DOI":"10.1016\/j.eswa.2023.120897","volume":"232","author":"X Hu","year":"2023","unstructured":"Hu, X., Assaad, R.H.: The use of unmanned ground vehicles (mobile robots) and unmanned aerial vehicles (drones) in the civil infrastructure asset management sector: Applications, robotic platforms, sensors, and algorithms. Expert Syst. Appl. 232, 120\u2013397 (2023)","journal-title":"Expert Syst. Appl."},{"issue":"1","key":"503_CR12","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/2492\/1\/012017","volume":"2492","author":"M Jin","year":"2023","unstructured":"Jin, M., Wang, H.: Robot path planning by integrating improved A* algorithm and DWA algorithm. Journal of Physics: Conference Series 2492(1), 012017 (2023). https:\/\/doi.org\/10.1088\/1742-6596\/2492\/1\/012017","journal-title":"Journal of Physics: Conference Series"},{"key":"503_CR13","doi-asserted-by":"publisher","first-page":"60897","DOI":"10.1109\/ACCESS.2021.3064831","volume":"9","author":"Q Jin","year":"2021","unstructured":"Jin, Q., Tang, C., Cai, W.: Research on dynamic path planning based on the fusion algorithm of improved ant colony optimization and dynamic window method. IEEE Access. 9, 60897\u201360906 (2021). https:\/\/doi.org\/10.1109\/ACCESS.2021.3064831","journal-title":"IEEE Access."},{"issue":"20","key":"503_CR14","doi-asserted-by":"publisher","first-page":"1754","DOI":"10.1002\/rob.22213","volume":"40","author":"J Lee","year":"2023","unstructured":"Lee, J., Lim, J., Pyo, S., Lee, J.: Aerial online mapping on-board system by real-time object detection for UGV path generation in unstructured outdoor environments. J. Field Robot. 40(20), 1754\u20131765 (2023)","journal-title":"J. Field Robot."},{"issue":"12","key":"503_CR15","doi-asserted-by":"publisher","first-page":"13476","DOI":"10.1109\/TCYB.2021.3124815","volume":"52","author":"Y Li","year":"2022","unstructured":"Li, Y., Li, H., Zhang, Y.: Multi-Objective ant colony optimization with adaptive heuristic for UAV path planning. IEEE Trans. Cybernetics. 52(12), 13476\u201313489 (2022). https:\/\/doi.org\/10.1109\/TCYB.2021.3124815","journal-title":"IEEE Trans. Cybernetics"},{"issue":"2","key":"503_CR16","first-page":"1","volume":"2","author":"X Liang","year":"2020","unstructured":"Liang, X., Wang, H., Luo, H.: Collaborative Pursuit-Evasion strategy of UAV\/UGV heterogeneous system in complex Three-Dimensional polygonal environment. Complexity 2(2), 1\u201313 (2020)","journal-title":"Complexity"},{"key":"503_CR17","doi-asserted-by":"publisher","unstructured":"Liu, Y., Xie, K., Huang, H.: VGF-Net: Visual-geometric fusion learning for simultaneous drone navigation and height mapping (2021). ArXiv Preprint\u00a0 https:\/\/doi.org\/10.48550\/arXiv.2104.03109","DOI":"10.48550\/arXiv.2104.03109"},{"issue":"6","key":"503_CR18","doi-asserted-by":"publisher","first-page":"81","DOI":"10.3390\/jsan1306008","volume":"13","author":"I Munasinghe","year":"2024","unstructured":"Munasinghe, I., Perera, A., Deo, R.C.: A comprehensive review of UAV-UGV collaboration: Advancements and challenges. J. Sens. Actuator Networks. 13(6), 81 (2024). https:\/\/doi.org\/10.3390\/jsan1306008","journal-title":"J. Sens. Actuator Networks"},{"key":"503_CR19","doi-asserted-by":"publisher","first-page":"1339","DOI":"10.1109\/TVT.2018.2890416","volume":"68","author":"H Qin","year":"2018","unstructured":"Qin, H., Meng, Z., Meng, W., Chen, X., Sun, H., Lin, F., Ang, M.H.: Autonomous exploration and mapping system using heterogeneous UAVs and UGVs in GPS-denied environments. IEEE Trans. Veh. Technol. 68, 1339\u20131350 (2018)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"503_CR20","first-page":"1","volume-title":"Probabilistic Robotics.pp","author":"S Thrun","year":"2005","unstructured":"Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics.pp, pp. 1\u2013432. MIT Press, Cambridge (2005)"},{"issue":"1","key":"503_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s41315-022-00259-7","volume":"7","author":"DC Vo","year":"2023","unstructured":"Vo, D.C., Le, D.H.: UAV path planning based on a dual-strategy ant colony optimization algorithm. Int. J. Intell. Rob. Appl. 7(1), 1\u201313 (2023). https:\/\/doi.org\/10.1007\/s41315-022-00259-7","journal-title":"Int. J. Intell. Rob. Appl."},{"key":"503_CR22","doi-asserted-by":"publisher","first-page":"117690","DOI":"10.1016\/j.eswa.2022.117690","volume":"205","author":"J Wang","year":"2022","unstructured":"Wang, J., Liu, S., Gao, R.: Hybrid ant Colony-Genetic algorithm for dynamic vehicle routing with time windows. Expert Syst. Appl. 205, 117690 (2022). https:\/\/doi.org\/10.1016\/j.eswa.2022.117690","journal-title":"Expert Syst. Appl."},{"key":"503_CR23","doi-asserted-by":"publisher","unstructured":"Xu, W., Cai, Y., He, D., Lin, J., Zhang, F.: FAST-LIO2: Fast direct LiDAR-inertial odometry (2021).\u00a0ArXiv Preprint\u00a0 https:\/\/doi.org\/10.48550\/arXiv.2107.06829","DOI":"10.48550\/arXiv.2107.06829"},{"key":"503_CR24","doi-asserted-by":"publisher","first-page":"101324","DOI":"10.1016\/j.swevo.2023.101324","volume":"80","author":"Y Xu","year":"2023","unstructured":"Xu, Y., Cheng, H., Xu, N., Chen, Y., Xie, C.: Pheromone diversification strategy in ant colony optimization for combinatorial optimization problems. Swarm Evol. Comput. 80, 101324 (2023). https:\/\/doi.org\/10.1016\/j.swevo.2023.101324","journal-title":"Swarm Evol. Comput."},{"issue":"3","key":"503_CR25","doi-asserted-by":"publisher","first-page":"693","DOI":"10.1007\/s11119-012-9274-5","volume":"2","author":"C Zhang","year":"2012","unstructured":"Zhang, C., Kovacs, J.: The application of small unmanned aerial systems for precision agriculture: A review. Precis Agric. 2(3), 13, 693\u2013712 (2012)","journal-title":"Precis Agric."},{"key":"503_CR26","first-page":"1","volume":"402","author":"Y Zhang","year":"2024","unstructured":"Zhang, Y., Yan, H., Zhu, D., Wang, J., Zhang, C.-H., Ding, W., Luo, X., Hua, C., Meng, M.Q.-H.: Air-Ground collaborative robots for fire and rescue missions: Towards mapping and navigation perspective. Sens. Actuators A: Phys. 402, 1\u201318 (2024)","journal-title":"Sens. Actuators A: Phys."}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-025-00503-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s41315-025-00503-w","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-025-00503-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T13:07:03Z","timestamp":1774444023000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s41315-025-00503-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,6]]},"references-count":26,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,3]]}},"alternative-id":["503"],"URL":"https:\/\/doi.org\/10.1007\/s41315-025-00503-w","relation":{},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"value":"2366-5971","type":"print"},{"value":"2366-598X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,6]]},"assertion":[{"value":"28 July 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 October 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 November 2025","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 no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}]}}