@misc{tang2023bubble,
  title={Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres},
  author={Benxu Tang and Yunfan Ren and Fangcheng Zhu and Rui He and Siqi Liang and Fanze Kong and Fu Zhang},
  year={2023},
  eprint={2304.00852},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2304.00852}
}