{"id":"https://openalex.org/W4405785439","doi":"https://doi.org/10.1109/iros58592.2024.10802009","title":"LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance","display_name":"LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785439","doi":"https://doi.org/10.1109/iros58592.2024.10802009"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5039394884","display_name":"Wenhao Yu","orcid":"https://orcid.org/0000-0003-1521-2674"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenhao Yu","raw_affiliation_strings":["University of Science and Technology of China (USTC),Institute of Advanced Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China (USTC),Institute of Advanced Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110601763","display_name":"Jie Peng","orcid":"https://orcid.org/0000-0003-3805-9326"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jie Peng","raw_affiliation_strings":["USTC,School of Data Science,China,230026"],"affiliations":[{"raw_affiliation_string":"USTC,School of Data Science,China,230026","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023981207","display_name":"Huanyu Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huanyu Yang","raw_affiliation_strings":["USTC,School of Data Science,China,230026"],"affiliations":[{"raw_affiliation_string":"USTC,School of Data Science,China,230026","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040592157","display_name":"Junrui Zhang","orcid":"https://orcid.org/0009-0005-8244-2770"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junrui Zhang","raw_affiliation_strings":["University of Science and Technology of China (USTC),Institute of Advanced Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China (USTC),Institute of Advanced Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066206169","display_name":"Yifan Duan","orcid":"https://orcid.org/0009-0004-0754-3953"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yifan Duan","raw_affiliation_strings":["USTC,School of Computer Science and Technology,China,230026"],"affiliations":[{"raw_affiliation_string":"USTC,School of Computer Science and Technology,China,230026","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061104105","display_name":"Jianmin Ji","orcid":"https://orcid.org/0000-0002-1515-0402"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianmin Ji","raw_affiliation_strings":["USTC,School of Computer Science and Technology,China,230026"],"affiliations":[{"raw_affiliation_string":"USTC,School of Computer Science and Technology,China,230026","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053344541","display_name":"Yanyong Zhang","orcid":"https://orcid.org/0000-0001-6520-255X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yanyong Zhang","raw_affiliation_strings":["USTC,School of Computer Science and Technology,China,230026"],"affiliations":[{"raw_affiliation_string":"USTC,School of Computer Science and Technology,China,230026","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5039394884"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":2.5825,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91304136,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5466","last_page":"5472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9190999865531921,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9110999703407288,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/collision-avoidance","display_name":"Collision avoidance","score":0.8854148983955383},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7437664270401001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6919329762458801},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5870070457458496},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5408011674880981},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5080690383911133},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4468570053577423},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3990189731121063},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36057811975479126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3558671474456787},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09655395150184631}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8854148983955383},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7437664270401001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6919329762458801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5870070457458496},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5408011674880981},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5080690383911133},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4468570053577423},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3990189731121063},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36057811975479126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3558671474456787},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09655395150184631}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W135651235","https://openalex.org/W1964168945","https://openalex.org/W2128990851","https://openalex.org/W2212786010","https://openalex.org/W3104753760","https://openalex.org/W3138508885","https://openalex.org/W3196525377","https://openalex.org/W3206426202","https://openalex.org/W4220840735","https://openalex.org/W4226150156","https://openalex.org/W4385403811","https://openalex.org/W4386159011","https://openalex.org/W4389665935","https://openalex.org/W4401413780","https://openalex.org/W4402354127","https://openalex.org/W6684338915","https://openalex.org/W6748329850","https://openalex.org/W6761190116","https://openalex.org/W6779823529","https://openalex.org/W6796289742","https://openalex.org/W6799150178","https://openalex.org/W6800425027","https://openalex.org/W6810940779","https://openalex.org/W6838483015","https://openalex.org/W6840815571","https://openalex.org/W6843731886","https://openalex.org/W6845804354","https://openalex.org/W6850614898","https://openalex.org/W6853024844","https://openalex.org/W6857561211","https://openalex.org/W6858206802"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571"],"abstract_inverted_index":{"The":[0,27,73],"conditional":[1,23,50,75],"diffusion":[2,56,102,173],"model":[3,21,57],"has":[4],"been":[5],"demonstrated":[6,231],"as":[7,48,119,194],"an":[8,142],"efficient":[9],"tool":[10],"for":[11,58,114,256],"learning":[12],"robot":[13,44,59,130],"policies,":[14],"owing":[15],"to":[16,19,83,95],"its":[17],"advancement":[18],"accurately":[20],"the":[22,41,55,96,99,106,116,129,207,214,233,262,266],"distribution":[24,51,76],"of":[25,30,43,98,109,144,178,210,216,265],"policies.":[26],"intricate":[28],"nature":[29],"real-world":[31,89,269],"scenarios,":[32,101],"characterized":[33],"by":[34,161,196],"dynamic":[35],"obstacles":[36],"and":[37,65,222,252],"maze-like":[38],"structures,":[39],"underscores":[40],"complexity":[42],"local":[45,60,78,107,220],"navigation":[46,61,79,240],"decision-making":[47],"a":[49,145,172,201],"problem.":[52],"Nevertheless,":[53],"leveraging":[54],"is":[62,175],"not":[63],"trivial":[64],"encounters":[66],"several":[67],"under-explored":[68],"challenges:":[69],"(1)":[70],"Data":[71],"Urgency":[72],"complex":[74],"in":[77,87,182,200,219,239],"needs":[80],"training":[81,170],"data":[82,147],"include":[84],"diverse":[85,88,146,169,183,246],"policy":[86,250],"scenarios;":[90],"(2)":[91],"Myopic":[92],"Observation":[93],"Due":[94],"diversity":[97],"perception":[100],"decisions":[103],"based":[104,166],"on":[105,167],"perspective":[108],"robots":[110],"may":[111,131],"prove":[112],"suboptimal":[113],"completing":[115],"entire":[117],"task,":[118],"they":[120],"often":[121],"lack":[122],"foresight.":[123],"In":[124],"certain":[125],"scenarios":[126,247],"requiring":[127],"detours,":[128],"become":[132],"trapped.":[133],"To":[134],"address":[135],"these":[136],"issues,":[137],"our":[138,188],"approach":[139],"begins":[140],"with":[141,248],"exploration":[143],"generation":[148],"mechanism":[149],"that":[150,232],"encompasses":[151],"multiple":[152],"agents":[153],"exhibiting":[154,242],"distinct":[155],"preferences":[156,251],"through":[157],"target":[158],"selection":[159],"informed":[160],"integrated":[162],"global-local":[163],"insights.":[164],"Then,":[165],"this":[168],"data,":[171],"agent":[174],"obtained,":[176],"capable":[177],"excellent":[179],"collision":[180],"avoidance":[181],"scenarios.":[184,258],"Subsequently,":[185],"we":[186,260],"augment":[187],"Local":[189],"Diffusion":[190],"Planner,":[191],"also":[192],"known":[193],"LDP":[195,234,267],"incorporating":[197],"global":[198],"observations":[199],"lightweight":[202],"manner.":[203],"This":[204],"enhancement":[205],"broadens":[206],"observational":[208],"scope":[209],"LDP,":[211],"effectively":[212],"mitigating":[213],"risk":[215],"becoming":[217],"ensnared":[218],"optima":[221],"promoting":[223],"more":[224],"robust":[225],"navigational":[226],"decisions.":[227],"Our":[228],"experimental":[229],"results":[230],"outperforms":[235],"other":[236],"baseline":[237],"algorithms":[238],"performance,":[241],"enhanced":[243],"robustness":[244],"across":[245],"different":[249],"superior":[253],"generalization":[254],"capabilities":[255],"unseen":[257],"Moreover,":[259],"highlighted":[261],"competitive":[263],"advantage":[264],"within":[268],"settings.":[270]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}