Figure2
![Leveraging active queries in collaborative robotic mission planning](https://image.oaes.cc/116da797-64a4-4b6b-9b14-5e8aa07d4bc3/ir4006-2.jpg)
Figure 2. Overview of the AQE. The input AQ in text form is parsed and executed by the query execution algorithm to generate results by combining outputs of different data sources, which contain pre-existing, acquired, or transformed datasets. AQE: Active Query Engine; AQ: Active Query.