{"id":"https://openalex.org/W4413925258","doi":"https://doi.org/10.1109/icra55743.2025.11127774","title":"Planning-Oriented Cooperative Perception Among Heterogeneous Vehicles","display_name":"Planning-Oriented Cooperative Perception Among Heterogeneous Vehicles","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925258","doi":"https://doi.org/10.1109/icra55743.2025.11127774"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5050202580","display_name":"Han Zheng","orcid":"https://orcid.org/0000-0002-8179-7263"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Han Zheng","raw_affiliation_strings":["Stony Brook University,Stony Brook,NY,USA,11727"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stony Brook University,Stony Brook,NY,USA,11727","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405476","display_name":"Fan Ye","orcid":"https://orcid.org/0000-0002-0131-6424"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fan Ye","raw_affiliation_strings":["Stony Brook University,Stony Brook,NY,USA,11727"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stony Brook University,Stony Brook,NY,USA,11727","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100638446","display_name":"Yuanyuan Yang","orcid":"https://orcid.org/0000-0001-7296-9222"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuanyuan Yang","raw_affiliation_strings":["Stony Brook University,Stony Brook,NY,USA,11727"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stony Brook University,Stony Brook,NY,USA,11727","institution_ids":["https://openalex.org/I59553526"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I59553526"],"apc_list":null,"apc_paid":null,"fwci":2.8334,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89515988,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6552","last_page":"6558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9222000241279602,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6114223003387451},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5938491821289062},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3539496660232544},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0909588634967804}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6114223003387451},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5938491821289062},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3539496660232544},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0909588634967804},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127774","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6925933898","display_name":"III: Small: Opportunistic Learning on Wheels: Peer-wise Training of Machine Learning Models among Connected Vehicles","funder_award_id":"2007715","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1988645907","https://openalex.org/W2020328455","https://openalex.org/W2025533349","https://openalex.org/W2053751548","https://openalex.org/W2809695613","https://openalex.org/W2903994599","https://openalex.org/W2982681137","https://openalex.org/W2985739927","https://openalex.org/W3034709373","https://openalex.org/W3065468121","https://openalex.org/W3109991383","https://openalex.org/W3116651890","https://openalex.org/W3190994148","https://openalex.org/W3199947090","https://openalex.org/W3201193904","https://openalex.org/W3204385750","https://openalex.org/W3211787817","https://openalex.org/W4286285601","https://openalex.org/W4309592030","https://openalex.org/W4383108819","https://openalex.org/W4383108834","https://openalex.org/W4385416338","https://openalex.org/W4387227862","https://openalex.org/W4388240430","https://openalex.org/W4388983823","https://openalex.org/W4389666601","https://openalex.org/W4390872772","https://openalex.org/W4390874111","https://openalex.org/W4394699173"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Vehicle-to-vehicle":[0],"(V2V)":[1],"based":[2],"cooperative":[3,31,82,124],"perception":[4,11,32,55,83,109,125],"enhances":[5],"autonomous":[6],"driving":[7],"by":[8,107],"overcoming":[9],"single-agent":[10],"limitations":[12],"such":[13,41,72],"as":[14,42],"occlusions,":[15],"without":[16],"relying":[17],"on":[18,126,153],"extensive":[19],"infrastructure.":[20],"However,":[21],"most":[22],"existing":[23],"methods":[24,149],"have":[25],"two":[26],"key":[27],"limitations.":[28],"They":[29,52],"treat":[30],"in":[33],"isolation,":[34],"with":[35,139,160],"little":[36],"consideration":[37],"for":[38,80,122],"downstream":[39],"tasks":[40],"planning,":[43],"leading":[44],"to":[45,99,110,132],"poor":[46],"coordination":[47],"and":[48,115,135,150],"inefficient":[49],"planning":[50],"decisions.":[51],"also":[53],"assume":[54],"model":[56],"homogeneity":[57],"across":[58],"all":[59],"vehicles,":[60],"which":[61],"can":[62],"be":[63],"impractical":[64],"among":[65,84],"vehicles":[66,85],"from":[67],"different":[68],"manufacturers.":[69],"To":[70],"bridge":[71],"gaps,":[73],"we":[74,90],"propose":[75],"Scout,":[76],"an":[77],"early-fusion":[78],"framework":[79],"planning-oriented":[81],"of":[86,103,163],"heterogeneous":[87],"models.":[88],"Specifically,":[89],"formalize":[91],"a":[92,117],"notion":[93],"of$\\Delta":[94],"\\theta$-Risk":[95],"Increment":[96],"Distribution":[97],"(RID)":[98],"capture":[100],"the":[101,104,111],"distribution":[102],"risk":[105],"increment":[106],"incomplete":[108],"current":[112],"trajectory":[113],"plan,":[114],"define":[116],"Priority":[118],"Index":[119],"(PI)":[120],"metric":[121],"prioritizing":[123],"riskier":[127],"regions.":[128],"We":[129],"develop":[130],"algorithms":[131],"estimate$\\Delta":[133],"\\theta$-RID":[134],"PI":[136],"at":[137],"run-time":[138],"theoretical":[140],"bounds.":[141],"Empirical":[142],"results":[143],"demonstrate":[144],"that":[145],"Scout":[146],"surpasses":[147],"state-of-the-art":[148],"strong":[151],"baselines":[152],"challenging":[154],"benchmarks,":[155],"achieving":[156],"higher":[157],"success":[158],"rates":[159],"only":[161],"3-10%":[162],"their":[164],"communication":[165],"volume.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}