Citation, License and Acknowledgments

Citation, License and Acknowledgments#

How to cite Open Apero, the terms it is distributed under, and the projects it builds on. For anyone publishing work that uses it or redistributing it.

Citation#

If you use Open Apero in your research, please cite the paper it was developed for:

@article{qu2026efficient,
  title={An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics},
  author={Qu, Kaixian and Wang, Han and Klemm, Victor and Cadena, Cesar and Hutter, Marco},
  journal={The International Journal of Robotics Research},
  year={2026},
  doi={10.1177/02783649261455911},
  note={Project page: \url{https://efficient-beam-search.github.io/}}
}

The same reference is the preferred-citation in CITATION.cff, which GitHub’s “Cite this repository” button reads.

License#

This project is licensed under the BSD 3-Clause License; see the LICENSE file. The copyright is held by ETH Zürich, and Open Apero was created by Kaixian Qu and Han Wang at the Robotic Systems Lab (RSL).

Open Apero started in 2024 as a fork of mav_active_3d_planning (BSD 3-Clause, Copyright (c) 2020, ETHZ ASL) and has since been substantially rewritten: the graph planners, the Habitat simulation and the graph benchmark are new.

Two exceptions are bundled content that this license does not cover:

  • the runner figure in open_apero_ros/meshes/ drawn by collectible_points_visualization_node, under CC BY 4.0 (attribution in that README);

  • the vendored single-header libraries in open_apero_core/include/open_apero_core/third_party/: nanoflann 1.7.1 (BSD 2-Clause) and tinycolormap (MIT), whose Turbo colormap lookup table is Copyright 2019 Google LLC under the Apache License 2.0, with its notice retained in the header.

The Open Apero logo (open_apero_logo.png) is part of this repository and is distributed under its BSD 3-Clause license. The HSSD scenes the simulated experiments render are not part of this repository; their dataset is licensed CC BY-NC 4.0 (see HSSD Dataset).

Acknowledgments#

This project builds upon and has benefited from the following libraries: