{"id":"https://openalex.org/W4389665477","doi":"https://doi.org/10.1109/iros55552.2023.10342075","title":"Topology-Guided Perception-Aware Receding Horizon Trajectory Generation for UAVs","display_name":"Topology-Guided Perception-Aware Receding Horizon Trajectory Generation for UAVs","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665477","doi":"https://doi.org/10.1109/iros55552.2023.10342075"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5102944198","display_name":"Gang Sun","orcid":"https://orcid.org/0000-0002-6858-6680"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Sun","raw_affiliation_strings":["School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101442817","display_name":"Xuetao Zhang","orcid":"https://orcid.org/0000-0002-8485-8818"},"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"]},{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuetao Zhang","raw_affiliation_strings":["College of Artificial Intelligence, the Institute of Robotics and Automatic Information System (lRAIS), Nankai University,Tianjin Key Laboratory of Intelligent Robotics,Tianjin,China,300350","School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, the Institute of Robotics and Automatic Information System (lRAIS), Nankai University,Tianjin Key Laboratory of Intelligent Robotics,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005467310","display_name":"Yisha Liu","orcid":"https://orcid.org/0000-0003-2083-8612"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisha Liu","raw_affiliation_strings":["School of Information Science and Technology, Dalian Maritime University,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Dalian Maritime University,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115695062","display_name":"Hanzhang Wang","orcid":"https://orcid.org/0009-0006-0650-173X"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanzhang Wang","raw_affiliation_strings":["School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025392915","display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"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"]},{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["College of Artificial Intelligence, the Institute of Robotics and Automatic Information System (lRAIS), Nankai University,Tianjin Key Laboratory of Intelligent Robotics,Tianjin,China,300350","School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, the Institute of Robotics and Automatic Information System (lRAIS), Nankai University,Tianjin Key Laboratory of Intelligent Robotics,Tianjin,China,300350","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009698718","display_name":"Yan Zhuang","orcid":"https://orcid.org/0000-0002-7640-4330"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhuang","raw_affiliation_strings":["School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, also School of Control Science and Engineering, Dalian University of Technology,Intelligent Robotic Laboratory,Dalian,China,116024","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9137,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87469699,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3070","last_page":"3076"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9965000152587891,"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/trajectory","display_name":"Trajectory","score":0.8121250867843628},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6506417989730835},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6381735801696777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5352559685707092},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5195584297180176},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5193518400192261},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.49681761860847473},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4933411180973053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4766453206539154},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4701929986476898},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4693722724914551},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45044058561325073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19772645831108093},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17248064279556274}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8121250867843628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6506417989730835},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6381735801696777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5352559685707092},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5195584297180176},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5193518400192261},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.49681761860847473},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4933411180973053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4766453206539154},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4701929986476898},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4693722724914551},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45044058561325073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19772645831108093},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17248064279556274},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/iros55552.2023.10342075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G6248925242","display_name":null,"funder_award_id":"62103077,61973049,U19l320l","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":27,"referenced_works":["https://openalex.org/W1991765360","https://openalex.org/W2745859992","https://openalex.org/W2793826897","https://openalex.org/W2892378191","https://openalex.org/W2899725245","https://openalex.org/W2904612118","https://openalex.org/W2962787639","https://openalex.org/W2973216148","https://openalex.org/W3041390508","https://openalex.org/W3048274921","https://openalex.org/W3112576174","https://openalex.org/W3119042051","https://openalex.org/W3135496326","https://openalex.org/W3159537771","https://openalex.org/W3183174436","https://openalex.org/W3207644545","https://openalex.org/W3217061540","https://openalex.org/W4200433588","https://openalex.org/W4226512335","https://openalex.org/W4292347964","https://openalex.org/W4306147871","https://openalex.org/W4312513129","https://openalex.org/W4312930837","https://openalex.org/W4313855813","https://openalex.org/W4317796409","https://openalex.org/W4367663460","https://openalex.org/W6781998800"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"The":[0],"perception-aware":[1,26,50,65],"motion":[2],"planning":[3],"method":[4,148],"based":[5,103],"on":[6,104],"the":[7,11,15,24,37,80,100,105,115,146,158],"localization":[8,16,159],"uncertainty":[9],"has":[10],"potential":[12],"to":[13,143],"improve":[14],"accuracy":[17],"for":[18],"robot":[19],"navigation.":[20],"How-ever,":[21],"most":[22],"of":[23,87,99],"existing":[25],"methods":[27],"pre-build":[28],"a":[29,47,58,64,71,85,122,129],"global":[30],"feature":[31],"map":[32,74],"and":[33,63,111,128,137,156],"can":[34,149],"not":[35],"generate":[36],"perception-":[38],"aware":[39],"trajectory":[40,53,61,68,118,133],"in":[41,97,154],"real":[42],"time.":[43],"This":[44],"paper":[45],"proposes":[46],"topology-":[48],"guided":[49,132],"receding":[51],"horizon":[52],"generation":[54,62],"method,":[55],"which":[56,93],"contains":[57],"topology-guided":[59],"position":[60],"yaw":[66,116],"angle":[67,117],"generation.":[69],"Specifically,":[70],"memorable":[72],"active":[73,106],"is":[75,119],"built":[76],"by":[77],"selectively":[78],"storing":[79],"visual":[81,152],"landmarks.":[82],"After":[83],"that,":[84],"library":[86],"candidate":[88],"topological":[89],"trajectories":[90],"are":[91,94,140],"generated,":[92],"then":[95],"evaluated":[96],"terms":[98],"perception":[101],"quality":[102],"map,":[107],"smoothness,":[108],"collision":[109],"possibility":[110],"feasibility.":[112],"In":[113],"addition,":[114],"obtained":[120],"through":[121],"front-end":[123],"multiple":[124],"refined":[125],"path":[126],"search":[127],"back-end":[130],"path-":[131],"optimization.":[134],"Comparative":[135],"simulation":[136],"real-world":[138],"experiments":[139],"carried":[141],"out":[142],"confirm":[144],"that":[145],"proposed":[147],"keep":[150],"more":[151],"features":[153],"view":[155],"reduce":[157],"error.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
