{"id":"https://openalex.org/W4413925705","doi":"https://doi.org/10.1109/icra55743.2025.11128136","title":"GA-TEB: Goal-Adaptive Framework for Efficient Navigation Based on Goal Lines","display_name":"GA-TEB: Goal-Adaptive Framework for Efficient Navigation Based on Goal Lines","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925705","doi":"https://doi.org/10.1109/icra55743.2025.11128136"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128136","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/A5023714065","display_name":"Q. Zhang","orcid":"https://orcid.org/0000-0002-6457-9432"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianyi Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112680774","display_name":"Wentao Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Luo","raw_affiliation_strings":["Huawei 2012lab,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei 2012lab,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028100559","display_name":"Ziyang Zhang","orcid":"https://orcid.org/0000-0002-6709-7076"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyang Zhang","raw_affiliation_strings":["Huawei 2012lab,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei 2012lab,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107808569","display_name":"Yaoyuan Wang","orcid":"https://orcid.org/0000-0003-1060-4898"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoyuan Wang","raw_affiliation_strings":["Huawei 2012lab,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei 2012lab,China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, Nankai University,Tianjin,China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3876","last_page":"3882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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":0.9975000023841858,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9272000193595886,"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/computer-science","display_name":"Computer science","score":0.6737031936645508},{"id":"https://openalex.org/keywords/goal-orientation","display_name":"Goal orientation","score":0.6558611989021301},{"id":"https://openalex.org/keywords/goal-setting","display_name":"Goal setting","score":0.479096919298172},{"id":"https://openalex.org/keywords/goal-modeling","display_name":"Goal modeling","score":0.47534653544425964},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3392859101295471},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.06556928157806396},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06276679039001465},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05745977163314819}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6737031936645508},{"id":"https://openalex.org/C84653758","wikidata":"https://www.wikidata.org/wiki/Q5575175","display_name":"Goal orientation","level":2,"score":0.6558611989021301},{"id":"https://openalex.org/C2781195723","wikidata":"https://www.wikidata.org/wiki/Q199027","display_name":"Goal setting","level":2,"score":0.479096919298172},{"id":"https://openalex.org/C9586889","wikidata":"https://www.wikidata.org/wiki/Q5575167","display_name":"Goal modeling","level":4,"score":0.47534653544425964},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3392859101295471},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.06556928157806396},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06276679039001465},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05745977163314819},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C6604083","wikidata":"https://www.wikidata.org/wiki/Q376937","display_name":"Requirements engineering","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128136","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/G3116307879","display_name":null,"funder_award_id":"62173189","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1977695655","https://openalex.org/W2002440441","https://openalex.org/W2024924397","https://openalex.org/W2026733661","https://openalex.org/W2082585576","https://openalex.org/W2089950862","https://openalex.org/W2092200806","https://openalex.org/W2142943472","https://openalex.org/W2153054365","https://openalex.org/W2167052694","https://openalex.org/W2171330332","https://openalex.org/W2295237948","https://openalex.org/W2549200707","https://openalex.org/W2553461716","https://openalex.org/W2748490912","https://openalex.org/W2898461817","https://openalex.org/W3004409430","https://openalex.org/W3007327890","https://openalex.org/W3081756019","https://openalex.org/W3090470651","https://openalex.org/W3090649643","https://openalex.org/W3181376804","https://openalex.org/W3199251596","https://openalex.org/W4367839715","https://openalex.org/W4383066144","https://openalex.org/W4383066278","https://openalex.org/W4385627443","https://openalex.org/W4386285856","https://openalex.org/W4387609198","https://openalex.org/W4391753820","https://openalex.org/W4401417061","https://openalex.org/W4401417422"],"related_works":["https://openalex.org/W4237572413","https://openalex.org/W2754497362","https://openalex.org/W3000888774","https://openalex.org/W2790823221","https://openalex.org/W2949178533","https://openalex.org/W779342351","https://openalex.org/W4403702463","https://openalex.org/W4410298390","https://openalex.org/W2027125585","https://openalex.org/W2327489436"],"abstract_inverted_index":{"In":[0],"crowd":[1],"navigation,":[2],"the":[3,19,24,38,46,53,98,107,122],"local":[4,40,55],"goal":[5,21,41,49,56],"plays":[6],"a":[7,58,67,81,113],"crucial":[8],"role":[9],"in":[10,118,128],"trajectory":[11],"initialization,":[12],"optimization,":[13],"and":[14,94,137],"evaluation.":[15],"Recognizing":[16],"that":[17,72,97],"when":[18],"global":[20],"is":[22,28,85],"distant,":[23],"robot's":[25],"primary":[26],"objective":[27],"avoiding":[29],"collisions,":[30],"making":[31],"it":[32],"less":[33],"critical":[34],"to":[35,61,75,87,112],"pass":[36],"through":[37],"exact":[39],"point,":[42],"this":[43],"work":[44],"introduces":[45],"concept":[47],"of":[48,115],"lines,":[50],"which":[51],"extend":[52],"traditional":[54],"from":[57],"single":[59],"point":[60],"multiple":[62,90],"candidate":[63,91],"lines.":[64],"Coupled":[65],"with":[66,130],"topological":[68],"map":[69],"construction":[70],"strategy":[71],"groups":[73],"obstacles":[74],"be":[76],"as":[77,79],"convex":[78],"possible,":[80],"goal-adaptive":[82],"navigation":[83],"framework":[84,101,123],"proposed":[86,99],"efficiently":[88],"plan":[89],"trajectories.":[92],"Simulations":[93],"experiments":[95],"demonstrate":[96],"GA-TEB":[100],"effectively":[102],"prevents":[103],"deadlock":[104],"situations,":[105],"where":[106],"robot":[108],"becomes":[109],"frozen":[110],"due":[111],"lack":[114],"feasible":[116],"trajectories":[117],"crowded":[119],"environments.":[120],"Additionally,":[121],"greatly":[124],"increases":[125],"planning":[126],"frequency":[127],"scenarios":[129],"numerous":[131],"non-convex":[132],"obstacles,":[133],"enhancing":[134],"both":[135],"robustness":[136],"safety.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
