{"id":"https://openalex.org/W4401415144","doi":"https://doi.org/10.1109/icra57147.2024.10611264","title":"ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs\u2019 Navigation","display_name":"ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs\u2019 Navigation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415144","doi":"https://doi.org/10.1109/icra57147.2024.10611264"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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/A5028944723","display_name":"Zhehan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhehan Li","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091602163","display_name":"Rui Mao","orcid":"https://orcid.org/0000-0002-2374-5406"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Mao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048756987","display_name":"Nanhe Chen","orcid":"https://orcid.org/0009-0006-1950-1544"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanhe Chen","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100385781","display_name":"Chao Xu","orcid":"https://orcid.org/0009-0001-0574-5357"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042542957","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0003-4195-5033"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052272297","display_name":"Yanjun Cao","orcid":"https://orcid.org/0000-0001-7771-849X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Cao","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5028944723"],"corresponding_institution_ids":["https://openalex.org/I4391767838"],"apc_list":null,"apc_paid":null,"fwci":13.9786,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.98320732,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"16781","last_page":"16787"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9929999709129333,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9909999966621399,"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/computer-science","display_name":"Computer science","score":0.6602861881256104},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6181521415710449},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3491226136684418},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07999524474143982}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6602861881256104},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6181521415710449},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3491226136684418},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07999524474143982},{"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/icra57147.2024.10611264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330944","display_name":"Nature","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1570757094","https://openalex.org/W2051937143","https://openalex.org/W2069065333","https://openalex.org/W2087939536","https://openalex.org/W2125188427","https://openalex.org/W2160179157","https://openalex.org/W2199054930","https://openalex.org/W2571268510","https://openalex.org/W2573758756","https://openalex.org/W2766098635","https://openalex.org/W2771809894","https://openalex.org/W2791958123","https://openalex.org/W2800626432","https://openalex.org/W2805228397","https://openalex.org/W2907172124","https://openalex.org/W2909324603","https://openalex.org/W3003391230","https://openalex.org/W3080577972","https://openalex.org/W3094626211","https://openalex.org/W3101819905","https://openalex.org/W3125164440","https://openalex.org/W3133648073","https://openalex.org/W3207644545","https://openalex.org/W4285613949","https://openalex.org/W4313001381","https://openalex.org/W4319302559","https://openalex.org/W4362500596","https://openalex.org/W4389665602"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Perception":[0],"is":[1,90],"necessary":[2],"for":[3,15,77,106],"autonomous":[4,75],"navigation":[5,76],"in":[6,30,99,127],"an":[7],"unknown":[8,144],"area":[9],"crowded":[10],"with":[11,54,86,115,163,189,197],"obstacles.":[12],"It\u2019s":[13],"challenging":[14],"a":[16,31,41,65,78,159],"robot":[17,93],"to":[18,40,50,70,152,166,177,179,191],"navigate":[19],"safely":[20],"without":[21],"any":[22],"sensors":[23],"that":[24,94],"can":[25],"sense":[26],"the":[27,72,91,100,128,137,168],"environment,":[28],"resulting":[29],"blind":[32,81],"robot,":[33],"and":[34,109,131,143,171,194],"becomes":[35],"more":[36],"difficult":[37],"when":[38,174],"comes":[39],"group":[42,79],"of":[43,74,80,139],"robots.":[44],"However,":[45],"it":[46],"could":[47],"be":[48],"costly":[49],"equip":[51],"all":[52],"robots":[53],"expensive":[55],"perception":[56,97],"or":[57],"SLAM":[58,105],"systems.":[59],"In":[60],"this":[61,113],"paper,":[62],"we":[63],"propose":[64],"novel":[66],"system":[67,185],"named":[68],"ColAG,":[69],"solve":[71],"problem":[73],"UGVs":[82,116,123,154,175,193],"by":[83,136],"introducing":[84],"cooperation":[85],"one":[87],"UAV,":[88],"which":[89],"only":[92],"has":[95],"full":[96],"capabilities":[98],"group.":[101],"The":[102,122,147],"UAV":[103,148],"uses":[104],"its":[107,140],"odometry":[108,142],"mapping":[110],"while":[111],"sharing":[112],"information":[114],"via":[117],"limited":[118],"relative":[119],"pose":[120],"estimation.":[121],"plan":[124],"their":[125],"trajectories":[126,170],"received":[129],"map":[130],"predict":[132],"possible":[133],"failures":[134],"caused":[135],"uncertainty":[138],"wheel":[141],"risky":[145],"areas.":[146],"dynamically":[149],"schedules":[150],"waypoints":[151],"prevent":[153],"from":[155],"collisions,":[156],"formulated":[157],"as":[158],"Vehicle":[160],"Routing":[161],"Problem":[162],"Time":[164],"Windows":[165],"optimize":[167],"UAV\u2019s":[169],"minimize":[172],"time":[173],"have":[176],"wait":[178],"guarantee":[180],"safety.":[181],"We":[182],"validate":[183],"our":[184],"through":[186],"extensive":[187],"simulation":[188],"up":[190],"7":[192],"real-world":[195],"experiments":[196],"3":[198],"UGVs.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}