168182 20260212204405.0 doi 10.1109/LRA.2022.3194686 sideral 130104 ART-2022-130104 eng Morilla-Cabello, David Universidad de Zaragoza Sweep-Your-Map: efficient coverage planning for aerial teams in large-scale environments 2022 Access copy available to the general public Unrestricted The efficiency of path-planning in robot navigation is crucial in tasks such as search-and-rescue and disaster surveying, but this is emphasized even more when considering multirotor aerial robots due to the limited battery and flight time. In this spirit, this work proposes an efficient, hierarchical planner to achieve comprehensive visual coverage of large-scale outdoor scenarios for small drones. Following an initial reconnaissance flight, a coarse map of the scene gets built in real-time. Then, regions of the map that were not appropriately observed are identified and grouped by a novel perception-aware clustering process that enables the generation of continuous trajectories (sweeps) to cover them efficiently. Thanks to this partitioning of the map into a set of tasks, we can generalize the planning to an arbitrary number of drones and perform a well-balanced workload distribution among them. We compare our approach against a state-of-theart method for exploration and show the advantages of our pipeline in terms of efficiency for obtaining coverage in large environments. info:eu-repo/semantics/openAccess by-nc https://creativecommons.org/licenses/by-nc/4.0/deed.es 5.2 2022 ROBOTICS 10 / 30 = 0.333 2022 Q2 T2 1.693 2022 Artificial Intelligence 2022 Q1 Biomedical Engineering 2022 Q1 Computer Science Applications 2022 Q1 Mechanical Engineering 2022 Q1 Control and Optimization 2022 Q1 Control and Systems Engineering 2022 Q1 Human-Computer Interaction 2022 Q1 Computer Vision and Pattern Recognition 2022 Q1 7.6 2022 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Bartolomei, Luca Teixeira, Lucas Montijano, Eduardo Universidad de Zaragoza (orcid)0000-0002-5176-3767 Chli, Margarita 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 7, 4 (2022), 10810-10817 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 4996449 http://zaguan.unizar.es/record/168182/files/texto_completo.pdf Postprint 3216540 http://zaguan.unizar.es/record/168182/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:168182 articulos driver 2026-02-12-20:41:30 ARTICLE