{"id":"https://openalex.org/W7164590409","doi":"https://doi.org/10.1016/j.compag.2026.112015","title":"Risk-aware Neural Lazy-Theta* path planning for orchard picking robots in complex terrains","display_name":"Risk-aware Neural Lazy-Theta* path planning for orchard picking robots in complex terrains","publication_year":2026,"publication_date":"2026-06-12","ids":{"openalex":"https://openalex.org/W7164590409","doi":"https://doi.org/10.1016/j.compag.2026.112015"},"language":"en","primary_location":{"id":"doi:10.1016/j.compag.2026.112015","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.112015","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015057302","display_name":"Lepeng Song","orcid":"https://orcid.org/0000-0002-3375-1244"},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lepeng Song","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China"],"raw_orcid":"https://orcid.org/0000-0002-3375-1244","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125604231","display_name":"Zhenhao Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhao Bai","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051810216","display_name":"Weihong Ma","orcid":"https://orcid.org/0000-0002-8838-0006"},"institutions":[{"id":"https://openalex.org/I4210156423","display_name":"National Engineering Research Center for Information Technology in Agriculture","ror":"https://ror.org/04c3j3t84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210156423"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weihong Ma","raw_affiliation_strings":["Information Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China"],"raw_orcid":"https://orcid.org/0000-0002-8838-0006","affiliations":[{"raw_affiliation_string":"Information Technology Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China","institution_ids":["https://openalex.org/I4210156423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138506819","display_name":"Simon X. Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Simon X. Yang","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125619433","display_name":"Shuangniu Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangniu Hong","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124190470","display_name":"Longbo Su","orcid":null},"institutions":[{"id":"https://openalex.org/I168337820","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52","country_code":"CN","type":"education","lineage":["https://openalex.org/I168337820"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longbo Su","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Chongqing University of Science & Technology, Chongqing 401331, China","institution_ids":["https://openalex.org/I168337820"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015057302","https://openalex.org/A5051810216"],"corresponding_institution_ids":["https://openalex.org/I168337820","https://openalex.org/I4210156423"],"apc_list":{"value":3680,"currency":"USD","value_usd":3680},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.73709499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"251","issue":null,"first_page":"112015","last_page":"112015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.38909998536109924,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.38909998536109924,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.13179999589920044,"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/T10868","display_name":"Soft Robotics and Applications","score":0.06030000001192093,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/terrain","display_name":"Terrain","score":0.7594000101089478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.652899980545044},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6389999985694885},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.448199987411499},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41920000314712524},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.37070000171661377}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7594000101089478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.652899980545044},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6389999985694885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6175000071525574},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5669000148773193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5656999945640564},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.448199987411499},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41920000314712524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3765999972820282},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3167000114917755},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3068999946117401},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.30300000309944153},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2980000078678131},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.29760000109672546},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28130000829696655},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.compag.2026.112015","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.112015","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320328771","display_name":"Chongqing University of Science and Technology","ror":"https://ror.org/03n3v6d52"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1935926926","https://openalex.org/W2163178194","https://openalex.org/W2295752869","https://openalex.org/W2910230606","https://openalex.org/W2914334949","https://openalex.org/W2963163009","https://openalex.org/W2967969632","https://openalex.org/W3165149185","https://openalex.org/W4282598608","https://openalex.org/W4310538915","https://openalex.org/W4313314379","https://openalex.org/W4377043886","https://openalex.org/W4381930187","https://openalex.org/W4389206703","https://openalex.org/W4404198301","https://openalex.org/W4404327675","https://openalex.org/W4405971915","https://openalex.org/W4406132115","https://openalex.org/W4408422900","https://openalex.org/W4410282666","https://openalex.org/W4411451590","https://openalex.org/W4413008550","https://openalex.org/W4413416034","https://openalex.org/W4414093726","https://openalex.org/W4415822495"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-06-14T06:11:07.267592","created_date":"2026-06-13T00:00:00"}
