# Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments Using Occlusion-Free Spheres

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 25× · AI/ML

**Wikidata**: [openalex:W4389666463](https://www.wikidata.org/wiki/openalex:W4389666463)  
**Source**: https://4ort.xyz/entity/bubble-explorer-fast-uav-exploration-in-large-scale-and-cluttered-3d-environments-using-occlusion-free-spheres