{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T21:13:25Z","timestamp":1778102005041,"version":"3.51.4"},"reference-count":37,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2027,4,14]],"date-time":"2027-04-14T00:00:00Z","timestamp":1807660800000},"content-version":"am","delay-in-days":287,"URL":"http:\/\/www.elsevier.com\/open-access\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["N62909-24-1-2001"],"award-info":[{"award-number":["N62909-24-1-2001"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Engineering Applications of Artificial Intelligence"],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1016\/j.engappai.2026.114823","type":"journal-article","created":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T06:33:59Z","timestamp":1776148439000},"page":"114823","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"P2","title":["Vision-based risk-aware emergency landing for aerial vehicles in complex urban environments"],"prefix":"10.1016","volume":"176","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-9003-0429","authenticated-orcid":false,"given":"Julio","family":"De La Torre-Vanegas","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2146-3034","authenticated-orcid":false,"given":"Miguel","family":"Soriano-Garc\u00eda","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9788-1128","authenticated-orcid":false,"given":"Israel","family":"Becerra","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7416-3190","authenticated-orcid":false,"given":"Diego","family":"Mercado-Ravell","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"78","reference":[{"key":"10.1016\/j.engappai.2026.114823_b1","series-title":"2022 19th Conference on Robots and Vision","first-page":"213","article-title":"Safe landing zones detection for UAVs using deep regression","author":"Abdollahzadeh","year":"2022"},{"key":"10.1016\/j.engappai.2026.114823_b2","series-title":"2023 18th International Conference on Machine Vision and Applications","first-page":"1","article-title":"Safe landing zone detection for UAVs using image segmentation and super resolution","author":"Benjwal","year":"2023"},{"issue":"5","key":"10.1016\/j.engappai.2026.114823_b3","doi-asserted-by":"crossref","first-page":"3336","DOI":"10.1109\/TMECH.2023.3341851","article-title":"Safety assessment approach to UAVs based on profust safety index and HIL simulation","volume":"29","author":"Dai","year":"2024","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.engappai.2026.114823_b4","doi-asserted-by":"crossref","first-page":"202111","DOI":"10.1109\/ACCESS.2020.3034948","article-title":"Development of an automated camera-based drone landing system","volume":"8","author":"Demirhan","year":"2020","journal-title":"IEEE Access"},{"key":"10.1016\/j.engappai.2026.114823_b5","unstructured":"Florea, H., Ciontos, B.-A., Vana, V., 2022. WUAV: A Weather-Condition-Diverse UAV Dataset for Semantic Segmentation. In: 2022 IEEE 18th International Conference on Intelligent Computer Communication and Processing. ICCP, pp. 151\u2013158."},{"issue":"1","key":"10.1016\/j.engappai.2026.114823_b6","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1007\/s10846-021-01380-8","article-title":"Lightweight density map architecture for UAVs Safe Landing in Crowded Areas","volume":"102","author":"Gonzalez-Trejo","year":"2021","journal-title":"J. Intell. Robot. Syst."},{"issue":"4","key":"10.1016\/j.engappai.2026.114823_b7","doi-asserted-by":"crossref","first-page":"7901","DOI":"10.1109\/LRA.2021.3101861","article-title":"On the visual-based safe landing of UAVs in populated areas: A crucial aspect for urban deployment","volume":"6","author":"Gonz\u00e1lez-Trejo","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.engappai.2026.114823_b8","unstructured":"Guo, J., Xu, J., Huang, Z., Wang, J., 2023. A Multi-modal Landing Dataset for Unmanned Aerial Vehicles. In: 2023 IEEE\/CVF International Conference on Computer Vision Workshops. ICCVW, pp. 2556\u20132565."},{"key":"10.1016\/j.engappai.2026.114823_b9","series-title":"JARUS guidelines on specific operations risk assessment (SORA) V2.0","author":"Joint Authorities for Rulemaking of Unmanned Systems (JARUS)","year":"2024"},{"key":"10.1016\/j.engappai.2026.114823_b10","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1016\/j.eswa.2019.01.024","article-title":"An automatic zone detection system for safe landing of UAVs","volume":"122","author":"Kaljahi","year":"2019","journal-title":"Expert Syst. Appl."},{"key":"10.1016\/j.engappai.2026.114823_b11","doi-asserted-by":"crossref","DOI":"10.1016\/j.array.2024.100361","article-title":"Autonomous UAV navigation using deep learning-based computer vision frameworks: A systematic literature review","volume":"23","author":"Katkuri","year":"2024","journal-title":"Array"},{"issue":"5","key":"10.1016\/j.engappai.2026.114823_b12","doi-asserted-by":"crossref","first-page":"3960","DOI":"10.1109\/TMECH.2024.3369028","article-title":"Autonomous multirotor UAV search and landing on safe spots based on combined semantic and depth information from an onboard camera and LiDAR","volume":"29","author":"Lim","year":"2024","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.engappai.2026.114823_b13","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2025.110392","article-title":"Reinforcement learning based multi-perspective motion planning of manned electric vertical take-off and landing vehicle in urban environment with wind fields","volume":"149","author":"Liu","year":"2025","journal-title":"Eng. Appl. Artif. Intell."},{"key":"10.1016\/j.engappai.2026.114823_b14","series-title":"Advances in Artificial Intelligence \u2013 IBERAMIA 2024","first-page":"197","article-title":"Risk assessment for UAV autonomous landing in urban environments using semantic segmentation","author":"Loera-Ponce","year":"2025"},{"issue":"5","key":"10.1016\/j.engappai.2026.114823_b15","doi-asserted-by":"crossref","first-page":"1645","DOI":"10.3390\/s24051645","article-title":"Autonomous landing of quadrotor unmanned aerial vehicles based on multi-level marker and linear active disturbance reject control","volume":"24","author":"Lv","year":"2024","journal-title":"Sensors"},{"key":"10.1016\/j.engappai.2026.114823_b16","first-page":"10027","article-title":"Light-weight approach for safe landing in populated areas","author":"Mitroudas","year":"2024","journal-title":"IEEE Int. Conf. Robot. Autom."},{"key":"10.1016\/j.engappai.2026.114823_b17","series-title":"2024 International Conference on Unmanned Aircraft Systems","first-page":"652","article-title":"Vision-Based Algorithm for Autonomous Aerial Landing","author":"Morando","year":"2024"},{"key":"10.1016\/j.engappai.2026.114823_b18","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2024.107864","article-title":"A fast, lightweight deep learning vision pipeline for autonomous UAV landing support with added robustness","volume":"131","author":"Pieczy\u0144ski","year":"2024","journal-title":"Eng. Appl. Artif. Intell."},{"key":"10.1016\/j.engappai.2026.114823_b19","doi-asserted-by":"crossref","DOI":"10.1109\/TAES.2025.3559899","article-title":"Ensuring operation time safety of VTOL UAV: Autonomous emergency landings in unknown terrain","author":"Saldiran","year":"2025","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"10.1016\/j.engappai.2026.114823_b20","doi-asserted-by":"crossref","unstructured":"Sautenkov, O., Yaqoot, Y., Lykov, A., Mustafa, M.A., Tadevosyan, G., Akhmetkazy, A., Altamirano Cabrera, M., Martynov, M., Karaf, S., Tsetserukou, D., 2025. UAV-VLA: Vision-Language-Action System for Large Scale Aerial Mission Generation. In: Proceedings of the 2025 ACM\/IEEE International Conference on Human-Robot Interaction. HRI \u201925, pp. 1588\u20131592.","DOI":"10.1109\/HRI61500.2025.10974117"},{"key":"10.1016\/j.engappai.2026.114823_b21","series-title":"2024 International Conference on Unmanned Aircraft Systems","first-page":"807","article-title":"Visual environment assessment for safe autonomous quadrotor landing","author":"Secchiero","year":"2024"},{"issue":"115","key":"10.1016\/j.engappai.2026.114823_b22","article-title":"Vision-based autonomous UAV landing: A comprehensive review of technologies, techniques, and applications","volume":"111","author":"Semerikov","year":"2025","journal-title":"J. Intell. Robot. Syst."},{"key":"10.1016\/j.engappai.2026.114823_b23","doi-asserted-by":"crossref","DOI":"10.1016\/j.eswa.2021.115091","article-title":"A survey of safe landing zone detection techniques for autonomous unmanned aerial vehicles (UAVs)","volume":"179","author":"Shah Alam","year":"2021","journal-title":"Expert Syst. Appl."},{"key":"10.1016\/j.engappai.2026.114823_b24","doi-asserted-by":"crossref","first-page":"48572","DOI":"10.1109\/ACCESS.2019.2909530","article-title":"Unmanned aerial vehicles (UAVs): A survey on civil applications and key research challenges","volume":"7","author":"Shakhatreh","year":"2019","journal-title":"IEEE Access"},{"key":"10.1016\/j.engappai.2026.114823_b25","series-title":"2026 IEEE\/SICE International Symposium on System Integration","first-page":"1392","article-title":"A comparative study on segmentation techniques for context-aware safe landing of UAVs","author":"Soriano-Garcia","year":"2026"},{"key":"10.1016\/j.engappai.2026.114823_b26","series-title":"ViVa-SAFELAND: a new freeware for safe validation of vision-based navigation in aerial vehicles","author":"Soriano-Garc\u00eda","year":"2025"},{"issue":"1","key":"10.1016\/j.engappai.2026.114823_b27","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1007\/s10055-024-00965-6","article-title":"Real-time safe validation of autonomous landing in populated areas: From virtual environments to robot-in-the-loop","volume":"28","author":"Tovanche-Picon","year":"2024","journal-title":"Virtual Real."},{"issue":"2","key":"10.1016\/j.engappai.2026.114823_b28","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1109\/TETCI.2019.2897815","article-title":"Graph embedded convolutional neural networks in human crowd detection for drone flight safety","volume":"5","author":"Tzelepi","year":"2021","journal-title":"IEEE Trans. Emerg. Top. Comput. Intell."},{"key":"10.1016\/j.engappai.2026.114823_b29","series-title":"2024 15th International Conference on Computing Communication and Networking Technologies","first-page":"1","article-title":"Reinforcement learning-based autonomous landing of AirSim simulated quadcopter in unreal engine","author":"Vemulapalli","year":"2024"},{"issue":"2","key":"10.1016\/j.engappai.2026.114823_b30","first-page":"141","article-title":"A UAV-landing-pad-detection-dataset and a lightweight detector for autonomous UAV landing","volume":"9","author":"Wang","year":"2024","journal-title":"Drones"},{"key":"10.1016\/j.engappai.2026.114823_b31","series-title":"2024 36th Chinese Control and Decision Conference","first-page":"5018","article-title":"Semantic map construction of UAV autonomous landing in unknown environment","author":"Wu","year":"2024"},{"key":"10.1016\/j.engappai.2026.114823_b32","doi-asserted-by":"crossref","first-page":"8982","DOI":"10.1109\/JSTARS.2023.3317500","article-title":"A survey on UAV applications in smart city management: Challenges, advances, and opportunities","volume":"16","author":"Xu","year":"2023","journal-title":"IEEE J. Sel. Top. Appl. Earth Obs. Remote. Sens."},{"issue":"5","key":"10.1016\/j.engappai.2026.114823_b33","doi-asserted-by":"crossref","DOI":"10.3390\/electronics7050073","article-title":"Monocular vision SLAM-based UAV autonomous landing in emergencies and unknown environments","volume":"7","author":"Yang","year":"2018","journal-title":"Electronics"},{"key":"10.1016\/j.engappai.2026.114823_b34","doi-asserted-by":"crossref","first-page":"78","DOI":"10.58496\/BJML\/2023\/013","article-title":"A comprehensive review of deep learning and machine learning techniques for real-time car detection and wrong-way vehicle tracking","author":"Yass","year":"2023","journal-title":"Babylon. J. Mach. Learn."},{"key":"10.1016\/j.engappai.2026.114823_b35","series-title":"UAV3D-benchmark: A benchmark for 3D safe landing zone detection with unmanned aerial vehicles","author":"Ye","year":"2025"},{"key":"10.1016\/j.engappai.2026.114823_b36","series-title":"Intelligence Science V","first-page":"204","article-title":"A vision-based method for UAV Autonomous Landing Area detection","author":"Zhang","year":"2025"},{"key":"10.1016\/j.engappai.2026.114823_b37","doi-asserted-by":"crossref","first-page":"1698","DOI":"10.1111\/risa.17685","article-title":"A risk-based unmanned aerial vehicle path planning scheme for complex air-ground environments","volume":"45","author":"Zhou","year":"2025","journal-title":"Risk Anal."}],"container-title":["Engineering Applications of Artificial Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S095219762601105X?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S095219762601105X?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T20:31:51Z","timestamp":1778099511000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S095219762601105X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":37,"alternative-id":["S095219762601105X"],"URL":"https:\/\/doi.org\/10.1016\/j.engappai.2026.114823","relation":{},"ISSN":["0952-1976"],"issn-type":[{"value":"0952-1976","type":"print"}],"subject":[],"published":{"date-parts":[[2026,7]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Vision-based risk-aware emergency landing for aerial vehicles in complex urban environments","name":"articletitle","label":"Article Title"},{"value":"Engineering Applications of Artificial Intelligence","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.engappai.2026.114823","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"114823"}}