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Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV

Exploring large, unknown, and unstructured environments is challenging for Unmanned Aerial Vehicles (UAVs), but they are valuable tools to inspect large structures safely and efficiently. The Lazy Theta* path-planning algorithm is revisited and adapted to generate paths fast enough to be used in rea...

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Detalles Bibliográficos
Autores principales:	Faria, Margarida, Marín, Ricardo, Popović, Marija, Maza, Ivan, Viguria, Antidio
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	MDPI 2019
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6339096/ https://www.ncbi.nlm.nih.gov/pubmed/30621305 http://dx.doi.org/10.3390/s19010174

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