{"id":"https://openalex.org/W2972324156","doi":"https://doi.org/10.1109/icarm.2019.8833919","title":"A GAN-based Active Terrain Mapping for Collaborative Air-Ground Robotic System","display_name":"A GAN-based Active Terrain Mapping for Collaborative Air-Ground Robotic System","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972324156","doi":"https://doi.org/10.1109/icarm.2019.8833919","mag":"2972324156"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2019.8833919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-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/A5047093288","display_name":"Jie Chen","orcid":"https://orcid.org/0000-0002-9811-1694"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Chen","raw_affiliation_strings":["College of Computer and Software Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Computer and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008344915","display_name":"Zhuangzhuang Chen","orcid":"https://orcid.org/0000-0002-0336-1181"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuangzhuang Chen","raw_affiliation_strings":["College of Computer and Software Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Computer and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111172632","display_name":"Min Fang","orcid":"https://orcid.org/0000-0001-8060-1321"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Fang","raw_affiliation_strings":["Department of Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393871","display_name":"Jianqiang Li","orcid":"https://orcid.org/0000-0002-2208-962X"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Li","raw_affiliation_strings":["College of Computer and Software Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Computer and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633973","display_name":"Zhong Ming","orcid":"https://orcid.org/0000-0001-9310-3460"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Ming","raw_affiliation_strings":["College of Computer and Software Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Computer and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101422036","display_name":"Shulan Wang","orcid":"https://orcid.org/0000-0001-6420-4561"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shulan Wang","raw_affiliation_strings":["College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5047093288"],"corresponding_institution_ids":["https://openalex.org/I180726961"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.11651511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"622","last_page":"627"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8669209480285645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7174723744392395},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6157553195953369},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5834180116653442},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5541208386421204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5132984519004822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.508728563785553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44991159439086914},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42942726612091064},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4264998137950897},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15527325868606567},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11031597852706909}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8669209480285645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7174723744392395},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6157553195953369},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5834180116653442},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5541208386421204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5132984519004822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.508728563785553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44991159439086914},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42942726612091064},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4264998137950897},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15527325868606567},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11031597852706909},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2019.8833919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1903029394","https://openalex.org/W1963831586","https://openalex.org/W2099471712","https://openalex.org/W2102523882","https://openalex.org/W2104969271","https://openalex.org/W2110764733","https://openalex.org/W2141125852","https://openalex.org/W2343678873","https://openalex.org/W2547345216","https://openalex.org/W2570336801","https://openalex.org/W2593021375","https://openalex.org/W2597787948","https://openalex.org/W2770173563","https://openalex.org/W2798426353","https://openalex.org/W2889749348","https://openalex.org/W2951786554","https://openalex.org/W2963882535","https://openalex.org/W3105028880","https://openalex.org/W4320013936","https://openalex.org/W6675424851","https://openalex.org/W6704603273","https://openalex.org/W6746638498"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"Collaborative":[0],"air-ground":[1],"robotic":[2],"system":[3,29],"has":[4],"recently":[5],"emerged":[6],"as":[7],"an":[8],"important":[9],"research":[10],"area":[11],"and":[12],"shown":[13],"great":[14],"potential":[15],"in":[16],"many":[17],"practical":[18],"applications":[19],"of":[20,84,100],"smart":[21],"cities.":[22],"This":[23],"work":[24],"aims":[25],"to":[26,30,43,73,103],"use":[27],"such":[28],"transform":[31],"the":[32,75,92,96,109,115],"aerial":[33],"images":[34],"from":[35],"UAVs":[36],"into":[37,67],"terrain":[38,57,76,107],"map":[39,77],"exploited":[40],"by":[41],"UGVs":[42],"perform":[44],"ground":[45],"path":[46],"planning":[47],"or":[48],"navigation":[49],"tasks.":[50],"We":[51],"propose":[52],"a":[53,80,104],"novel":[54],"GAN-based":[55],"active":[56],"mapping":[58],"(GAN-ATM)":[59],"algorithm":[60,94],"which":[61],"integrates":[62],"Active":[63],"Learning":[64],"(AL)":[65],"strategy":[66],"Generative":[68],"Adversarial":[69],"Network":[70],"(GAN)":[71],"framework":[72],"build":[74],"efficiently":[78],"with":[79],"very":[81],"limited":[82],"number":[83],"labeled":[85],"data.":[86],"The":[87],"empirical":[88],"results":[89],"show":[90],"that":[91],"proposed":[93],"achieves":[95],"highest":[97],"predictive":[98],"accuracy":[99],"90.35%.":[101],"Due":[102],"more":[105],"accurate":[106],"map,":[108],"UAV":[110],"using":[111],"GAN-ATM":[112],"can":[113],"plan":[114],"shortest":[116],"trajectory":[117],"among":[118],"all":[119],"existing":[120],"counterparts.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}