{"id":"https://openalex.org/W3129781000","doi":"https://doi.org/10.1109/iros45743.2020.9341326","title":"Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV","display_name":"Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129781000","doi":"https://doi.org/10.1109/iros45743.2020.9341326","mag":"3129781000"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5074507207","display_name":"Ci Chen","orcid":"https://orcid.org/0000-0003-0813-5543"},"institutions":[{"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":true,"raw_author_name":"Ci Chen","raw_affiliation_strings":["Zhejiang University,College of Biosystems Engineering and Food Science,Hangzhou,China,310058","College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Biosystems Engineering and Food Science,Hangzhou,China,310058","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026465187","display_name":"Yuanfang Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanfang Wan","raw_affiliation_strings":["Southern University of Science and Technology,Department of Ocean Science and Engineering,Shenzhen,China,518055","Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Ocean Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103065382","display_name":"Baowei Li","orcid":"https://orcid.org/0000-0003-0290-7119"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baowei Li","raw_affiliation_strings":["Peking University,The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,Beijing,China,100871","The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Peking University,The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"raw_affiliation_string":"The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001586420","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4484-8885"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Peking University,National Engineering Research Center for Software Engineering,Beijing,China,100871","National Engineering Research Center for Software Engineering, Peking University, Beijing, China","The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Peking University,National Engineering Research Center for Software Engineering,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"National Engineering Research Center for Software Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"institutions":[{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["Peking University,The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,Beijing,China,100871","The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","Peng Cheng Laboratory, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Peking University,The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"raw_affiliation_string":"The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110452113","display_name":"Huanyu Jiang","orcid":"https://orcid.org/0000-0002-6814-7477"},"institutions":[{"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":"Huanyu Jiang","raw_affiliation_strings":["Zhejiang University,College of Biosystems Engineering and Food Science,Hangzhou,China,310058","College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Biosystems Engineering and Food Science,Hangzhou,China,310058","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5074507207"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.2931,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.58850911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1474","last_page":"1479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9973999857902527,"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":0.6902692317962646},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6736904382705688},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5718770623207092},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5627468228340149},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5508716106414795},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.47932183742523193},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.47759509086608887},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.46764183044433594},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4577021598815918},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4479213058948517},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35334211587905884},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.32399681210517883},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2342507541179657},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.21425071358680725},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.18024751543998718},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1700182557106018},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11790230870246887}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6902692317962646},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6736904382705688},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5718770623207092},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5627468228340149},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5508716106414795},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.47932183742523193},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.47759509086608887},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.46764183044433594},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4577021598815918},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4479213058948517},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35334211587905884},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.32399681210517883},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2342507541179657},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.21425071358680725},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.18024751543998718},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1700182557106018},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11790230870246887},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.699999988079071}],"awards":[],"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":34,"referenced_works":["https://openalex.org/W1602017060","https://openalex.org/W1732222442","https://openalex.org/W1992769576","https://openalex.org/W2069065333","https://openalex.org/W2108636361","https://openalex.org/W2173051530","https://openalex.org/W2204302769","https://openalex.org/W2419448466","https://openalex.org/W2530887700","https://openalex.org/W2547345216","https://openalex.org/W2754261200","https://openalex.org/W2791958123","https://openalex.org/W2909543700","https://openalex.org/W2950527759","https://openalex.org/W2964077562","https://openalex.org/W2980733766","https://openalex.org/W2991565663","https://openalex.org/W3021208093","https://openalex.org/W3042291553","https://openalex.org/W3129781000","https://openalex.org/W4293406525","https://openalex.org/W4297943099","https://openalex.org/W4298134534","https://openalex.org/W4300972995","https://openalex.org/W4303633609","https://openalex.org/W6635989145","https://openalex.org/W6637404856","https://openalex.org/W6684821475","https://openalex.org/W6685250938","https://openalex.org/W6685467498","https://openalex.org/W6688100739","https://openalex.org/W6692405165","https://openalex.org/W6717372056","https://openalex.org/W6743790455"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W3169161914","https://openalex.org/W4321379664"],"abstract_inverted_index":{"For":[0,101,128],"heterogeneous":[1,76,181],"unmanned":[2,6,11,77,182],"systems":[3,78,183],"composed":[4],"of":[5,86,92,144,180],"aerial":[7],"vehicles":[8,13],"(UAVs)":[9],"and":[10,98,122,126,151,184],"ground":[12],"(UGVs),":[14],"using":[15],"UAVs":[16,46],"serve":[17],"as":[18],"eyes":[19],"to":[20,32,116,141],"assist":[21],"UGVs":[22],"in":[23,55],"motion":[24,53,72,179],"planning":[25,54,73,150],"is":[26,114],"a":[27,60,71,186],"promising":[28],"research":[29],"direction":[30],"due":[31],"the":[33,45,49,56,102,107,124,129,134,142,145,178],"UAVs'":[34],"vast":[35],"view":[36],"scope.":[37],"However,":[38],"its":[39],"limitations":[40],"on":[41],"flight":[42],"altitude":[43],"prevent":[44],"from":[47,82,119,157],"observing":[48],"global":[50,87],"map.":[51],"Thus":[52],"local":[57],"map":[58],"becomes":[59],"Partially":[61],"Observable":[62],"Markov":[63],"Decision":[64],"Process":[65],"(POMDP)":[66],"problem.":[67],"This":[68],"paper":[69],"proposes":[70],"algorithm":[74,90,163],"for":[75,96],"under":[79,154],"partial":[80,155],"observation":[81,156],"UAV":[83],"without":[84],"reconstruction":[85],"maps.":[88],"Our":[89],"consists":[91],"two":[93],"parts":[94],"designed":[95],"perception":[97,103],"decision-making,":[99],"respectively.":[100],"part,":[104,131],"we":[105,132],"propose":[106,133],"Grid":[108],"Map":[109],"Generation":[110,137],"Network":[111,138],"(GMGN),":[112],"which":[113],"used":[115],"perceive":[117],"scenes":[118],"UAV's":[120],"perspective":[121],"classify":[123],"pathways":[125],"obstacles.":[127],"decision-making":[130],"Motion":[135],"Command":[136],"(MCGN).":[139],"Due":[140],"addition":[143],"memory":[146],"mechanism,":[147],"MCGN":[148],"has":[149],"reasoning":[152],"abilities":[153],"UAVs.":[158],"We":[159],"evaluate":[160],"our":[161,174],"proposed":[162],"by":[164],"comparing":[165],"it":[166],"with":[167],"baseline":[168],"algorithms.":[169],"The":[170],"results":[171],"show":[172],"that":[173],"method":[175],"effectively":[176],"plans":[177],"achieves":[185],"relatively":[187],"high":[188],"success":[189],"rate.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
