{"id":"https://openalex.org/W4407868659","doi":"https://doi.org/10.1002/aisy.202400916","title":"UP3: Unsupervised Predictive Path Planner for Mobile Robots in Unknown Environment","display_name":"UP3: Unsupervised Predictive Path Planner for Mobile Robots in Unknown Environment","publication_year":2025,"publication_date":"2025-02-23","ids":{"openalex":"https://openalex.org/W4407868659","doi":"https://doi.org/10.1002/aisy.202400916"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202400916","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400916","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400916","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400916","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111326344","display_name":"Jianing Luo","orcid":"https://orcid.org/0009-0008-4951-368X"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianing Luo","raw_affiliation_strings":["Academy for Engineering and Technology Fudan University  Shanghai 200433 China","Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China"],"raw_orcid":"https://orcid.org/0009-0008-4951-368X","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology Fudan University  Shanghai 200433 China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069004409","display_name":"Jiwei Zhu","orcid":"https://orcid.org/0000-0003-1022-916X"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiwei Zhu","raw_affiliation_strings":["Academy for Engineering and Technology Fudan University  Shanghai 200433 China","Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology Fudan University  Shanghai 200433 China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101569325","display_name":"Rui Cui","orcid":"https://orcid.org/0000-0003-4132-440X"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruopeng Cui","raw_affiliation_strings":["Academy for Engineering and Technology Fudan University  Shanghai 200433 China","Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology Fudan University  Shanghai 200433 China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107943995","display_name":"Gaoxiong Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaoxiong Lu","raw_affiliation_strings":["Academy for Engineering and Technology Fudan University  Shanghai 200433 China","Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology Fudan University  Shanghai 200433 China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100689765","display_name":"Wei Li","orcid":"https://orcid.org/0000-0001-9786-585X"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Li","raw_affiliation_strings":["Academy for Engineering and Technology Fudan University  Shanghai 200433 China","Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China"],"raw_orcid":"https://orcid.org/0000-0001-9786-585X","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology Fudan University  Shanghai 200433 China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, 200433 China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100689765"],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":{"value":3190,"currency":"USD","value_usd":3190},"apc_paid":{"value":3190,"currency":"USD","value_usd":3190},"fwci":1.6374,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81651937,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"7","issue":"8","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8253800868988037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6361860036849976},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6124205589294434},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5813573598861694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5722758173942566},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4091479480266571},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33431094884872437},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1347241997718811}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8253800868988037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6361860036849976},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6124205589294434},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5813573598861694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5722758173942566},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4091479480266571},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33431094884872437},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1347241997718811}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.202400916","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400916","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400916","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d32a13d50dc34063bd9961fbd8db0a03","is_oa":true,"landing_page_url":"https://doaj.org/article/d32a13d50dc34063bd9961fbd8db0a03","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 7, Iss 8, Pp n/a-n/a (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202400916","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400916","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400916","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407868659.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W2002440441","https://openalex.org/W2117211893","https://openalex.org/W2167340365","https://openalex.org/W2171505650","https://openalex.org/W2914003710","https://openalex.org/W2962917939","https://openalex.org/W2963645756","https://openalex.org/W2968945909","https://openalex.org/W2978873589","https://openalex.org/W3016507688","https://openalex.org/W3031798691","https://openalex.org/W3036170014","https://openalex.org/W3094402048","https://openalex.org/W3122878979","https://openalex.org/W3127756416","https://openalex.org/W3163454111","https://openalex.org/W3186317065","https://openalex.org/W3190038566","https://openalex.org/W3202883604","https://openalex.org/W3206314692","https://openalex.org/W4352977012","https://openalex.org/W4366310509","https://openalex.org/W4379930841","https://openalex.org/W4383108357","https://openalex.org/W4400952598"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W2122871747","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W3114279067","https://openalex.org/W187779371"],"abstract_inverted_index":{"In":[0,113],"this":[1],"article,":[2],"UP3,":[3],"a":[4,58,75],"novel":[5],"unsupervised":[6,24],"learning\u2010based":[7],"predictive":[8,49,85],"path":[9,44,92],"planning":[10],"framework":[11],"for":[12,29],"mobile":[13],"robot":[14],"navigation":[15],"in":[16],"partially":[17],"observable":[18],"environments":[19],"is":[20,27,55,67,80,104,117],"proposed.":[21],"An":[22],"offline":[23],"learning":[25],"method":[26],"used":[28,68],"planner":[30],"training":[31],"to":[32,46,69,82,89,106],"avoid":[33],"frequent":[34],"environment":[35],"interactions":[36],"or":[37],"expert":[38],"demonstration.":[39],"The":[40],"network":[41],"employs":[42],"attention\u2010based":[43],"optimization":[45],"generate":[47],"the":[48,52,62,71,84,91,94,97,108,114],"path.":[50],"Herein,":[51,96],"robot's":[53],"safety":[54],"considered":[56],"as":[57],"hard":[59],"constraint,":[60],"and":[61,101,125,128],"control":[63],"barrier":[64],"function":[65,109],"constraint":[66,77],"design":[70],"collision":[72],"loss.":[73],"Additionally,":[74],"deep":[76],"correction":[78],"module":[79],"designed":[81],"correct":[83],"path,":[86],"which":[87],"aims":[88],"make":[90],"satisfy":[93],"constraints.":[95],"approach":[98],"through":[99],"simulation":[100],"real\u2010world":[102],"experiments":[103],"tested":[105],"verify":[107],"of":[110],"each":[111],"module.":[112],"results,":[115],"it":[116],"indicated":[118],"that":[119],"UP3":[120],"performs":[121],"well":[122],"on":[123],"dense":[124],"maze":[126],"scenarios":[127],"has":[129],"good":[130],"generalization.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
