{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T00:45:47Z","timestamp":1770338747377,"version":"3.49.0"},"reference-count":30,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","funder":[{"name":"Spanish Ministry of Science, Innovation and Universities","award":["RTI2018-100847-B-C21"],"award-info":[{"award-number":["RTI2018-100847-B-C21"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2022,4]]},"abstract":"<jats:p> This paper addresses the challenge to build an autonomous exploration system using Micro-Aerial Vehicles (MAVs). MAVs are capable of flying autonomously, generating collision-free paths to navigate in unknown areas and also reconstructing the environment at which they are deployed. One of the contributions of our system is the \u201c3D-Sliced Planner\u201d for exploration. The main innovation is the low computational resources needed. This is because Optimal-Frontier-Points (OFP) to explore are computed in 2D slices of the 3D environment using a global Rapidly-exploring Random Tree (RRT) frontier detector. Then, the MAV can plan path routes to these points to explore the surroundings with our new proposed local \u201cFAST RRT* Planner\u201d that uses a tree reconnection algorithm based on cost, and a collision checking algorithm based on Signed Distance Field (SDF). The results show the proposed explorer takes 43.95% less time to compute exploration points and paths when compared with the State-of-the-Art represented by the Receding Horizon Next Best View Planner (RH-NBVP) in Gazebo simulations. <\/jats:p>","DOI":"10.1142\/s2301385022500108","type":"journal-article","created":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T12:10:38Z","timestamp":1631880638000},"page":"175-186","source":"Crossref","is-referenced-by-count":10,"title":["FAST RRT* 3D-Sliced Planner for Autonomous Exploration Using MAVs"],"prefix":"10.1142","volume":"10","author":[{"given":"\u00c1.","family":"Mart\u00ednez Novo","sequence":"first","affiliation":[{"name":"Computer Vision and Aerial Robotics (CVAR) Group, Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), Calle Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]},{"given":"Liang","family":"Lu","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics (CVAR) Group, Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), Calle Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]},{"given":"Pascual","family":"Campoy","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics (CVAR) Group, Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), Calle Jos\u00e9 Guti\u00e9rrez Abascal 2, 28006 Madrid, Spain"}]}],"member":"219","published-online":{"date-parts":[[2021,9,15]]},"reference":[{"key":"S2301385022500108BIB001","doi-asserted-by":"publisher","DOI":"10.3390\/ecsa-5-05753"},{"key":"S2301385022500108BIB002","doi-asserted-by":"publisher","DOI":"10.3390\/s19224849"},{"key":"S2301385022500108BIB003","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385021500059"},{"key":"S2301385022500108BIB004","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385022500029"},{"key":"S2301385022500108BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"S2301385022500108BIB006","first-page":"293","volume-title":"Algorithmic and Computational Robotics New Directions","author":"Lavalle S. 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