{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:43:40Z","timestamp":1760237020898,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,2,8]],"date-time":"2020-02-08T00:00:00Z","timestamp":1581120000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The use of robots to map disaster-stricken environments can prevent rescuers from being harmed when exploring an unknown space. In addition, mapping a multi-robot environment can help these teams plan their actions with prior knowledge. The present work proposes the use of multiple unmanned aerial vehicles (UAVs) in the construction of a topological map inspired by the way that bees build their hives. A UAV can map a honeycomb only if it is adjacent to a known one. Different metrics to choose the honeycomb to be explored were applied. At the same time, as UAVs scan honeycomb adjacencies, RGB-D and thermal sensors capture other data types, and then generate a 3D view of the space and images of spaces where there may be fire spots, respectively. Simulations in different environments showed that the choice of metric and variation in the number of UAVs influence the number of performed displacements in the environment, consequently affecting exploration time and energy use.<\/jats:p>","DOI":"10.3390\/s20030907","type":"journal-article","created":{"date-parts":[[2020,2,10]],"date-time":"2020-02-10T11:48:51Z","timestamp":1581335331000},"page":"907","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Honeycomb Map: A Bioinspired Topological Map for Indoor Search and Rescue Unmanned Aerial Vehicles"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5400-8652","authenticated-orcid":false,"given":"Ricardo","family":"da Rosa","sequence":"first","affiliation":[{"name":"Federal Institute of Education, Science and Technology\u2014Parana (IFPR), 85814-800 Campus Cascavel, Brazil"},{"name":"Campus Curitiba, Federal University of Technology\u2014Parana (UTFPR), 80230-901 Curitiba, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1415-5527","authenticated-orcid":false,"given":"Marco","family":"Aurelio Wehrmeister","sequence":"additional","affiliation":[{"name":"Campus Curitiba, Federal University of Technology\u2014Parana (UTFPR), 80230-901 Curitiba, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5962-0517","authenticated-orcid":false,"given":"Thadeu","family":"Brito","sequence":"additional","affiliation":[{"name":"Campus de Santa Apol\u00f3nia, Instituto Polit\u00e9cnico de Bragan\u00e7a (IPB), Research Centre in Digitalization and Intelligent Robotics (CeDRI), 5300-253 Bragan\u00e7a, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7902-1207","authenticated-orcid":false,"given":"Jos\u00e9 Lu\u00eds","family":"Lima","sequence":"additional","affiliation":[{"name":"Campus de Santa Apol\u00f3nia, Instituto Polit\u00e9cnico de Bragan\u00e7a (IPB), Research Centre in Digitalization and Intelligent Robotics (CeDRI), 5300-253 Bragan\u00e7a, Portugal"},{"name":"INESC TEC - INESC Technology and Science, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3803-2043","authenticated-orcid":false,"given":"Ana Isabel Pinheiro Nunes","family":"Pereira","sequence":"additional","affiliation":[{"name":"Campus de Santa Apol\u00f3nia, Instituto Polit\u00e9cnico de Bragan\u00e7a (IPB), Research Centre in Digitalization and Intelligent Robotics (CeDRI), 5300-253 Bragan\u00e7a, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2020,2,8]]},"reference":[{"key":"ref_1","unstructured":"Thrun, S. 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