{"id":"https://openalex.org/W4416748969","doi":"https://doi.org/10.1109/iros60139.2025.11246534","title":"Adaptive Wall-Following Control for Unmanned Ground Vehicles Using Spiking Neural Networks","display_name":"Adaptive Wall-Following Control for Unmanned Ground Vehicles Using Spiking Neural Networks","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748969","doi":"https://doi.org/10.1109/iros60139.2025.11246534"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5086961089","display_name":"Hengye Yang","orcid":"https://orcid.org/0000-0003-2839-2344"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hengye Yang","raw_affiliation_strings":["Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group"],"affiliations":[{"raw_affiliation_string":"Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101937043","display_name":"Yanxiao Chen","orcid":"https://orcid.org/0000-0001-5961-7812"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanxiao Chen","raw_affiliation_strings":["Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group"],"affiliations":[{"raw_affiliation_string":"Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000400662","display_name":"Zhenhong Fan","orcid":"https://orcid.org/0000-0002-4230-9968"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zexuan Fan","raw_affiliation_strings":["Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group"],"affiliations":[{"raw_affiliation_string":"Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101894423","display_name":"Lin Shao","orcid":"https://orcid.org/0000-0002-5118-9515"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Shao","raw_affiliation_strings":["Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group"],"affiliations":[{"raw_affiliation_string":"Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109303607","display_name":"Tao Sun","orcid":"https://orcid.org/0009-0009-8565-2545"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Sun","raw_affiliation_strings":["Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group"],"affiliations":[{"raw_affiliation_string":"Robotics Algorithm Team, Microwave &#x0026; Cleaning Appliance Division,Midea Group","institution_ids":["https://openalex.org/I4210093653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086961089"],"corresponding_institution_ids":["https://openalex.org/I4210093653"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48246641,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3786","last_page":"3791"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.6049000024795532,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.6049000024795532,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.07419999688863754,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.037300001829862595,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/control-theory","display_name":"Control theory (sociology)","score":0.6180999875068665},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.578499972820282},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5462999939918518},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5342000126838684},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5102999806404114},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.49320000410079956},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.44350001215934753},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.3720000088214874},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.3587999939918518},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.35030001401901245}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6180999875068665},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.578499972820282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5778999924659729},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5462999939918518},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5342000126838684},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5102999806404114},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.49320000410079956},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.44350001215934753},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3587999939918518},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.35030001401901245},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3418000042438507},{"id":"https://openalex.org/C47702885","wikidata":"https://www.wikidata.org/wiki/Q5441227","display_name":"Feedforward neural network","level":3,"score":0.34150001406669617},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.325300008058548},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31200000643730164},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.28940001130104065},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C2776003309","wikidata":"https://www.wikidata.org/wiki/Q1988072","display_name":"Adaptive algorithm","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.26899999380111694},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.26409998536109924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26330000162124634},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.26249998807907104},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2612000107765198},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1935862723","https://openalex.org/W2050673413","https://openalex.org/W2050921210","https://openalex.org/W2125427293","https://openalex.org/W2131415622","https://openalex.org/W2133101712","https://openalex.org/W2167340365","https://openalex.org/W2753027610","https://openalex.org/W2787180295","https://openalex.org/W4210354141","https://openalex.org/W4214603024","https://openalex.org/W4221058639","https://openalex.org/W4238614602","https://openalex.org/W4309618925","https://openalex.org/W4312915875","https://openalex.org/W4401731496","https://openalex.org/W4405785288","https://openalex.org/W4410771002"],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"ground":[1],"vehicles":[2],"operating":[3],"in":[4,143,152],"complex":[5,145],"environments":[6],"must":[7],"adaptively":[8],"adjust":[9],"to":[10,16,47,55,67,76,100],"modeling":[11],"uncertainties":[12],"and":[13,23,41,45,60,147,159],"external":[14],"disturbances":[15],"perform":[17],"tasks":[18],"such":[19],"as":[20],"wall":[21,39,58],"following":[22,148],"obstacle":[24],"avoidance.":[25],"This":[26],"paper":[27],"introduces":[28],"an":[29,84,106],"adaptive":[30,107,134],"control":[31,80,103,127,135],"approach":[32],"based":[33,82,118],"on":[34,83,97,119],"spiking":[35,108],"neural":[36,109],"networks":[37],"for":[38,64],"fitting":[40],"tracking,":[42],"which":[43,112],"learns":[44],"adapts":[46],"unforeseen":[48],"disturbances.":[49],"We":[50],"propose":[51],"real-time":[52],"wall-fitting":[53],"algorithms":[54,90],"model":[56],"unknown":[57],"shapes":[59],"generate":[61,101],"corresponding":[62],"trajectories":[63,146],"the":[65,93,98,125,138,153],"vehicle":[66,86],"follow.":[68],"A":[69],"discretized":[70],"linear":[71,140],"quadratic":[72,141],"regulator":[73,142],"is":[74,122],"developed":[75],"provide":[77],"a":[78],"baseline":[79],"signal":[81],"ideal":[85],"model.":[87],"Point":[88],"matching":[89,95],"then":[91],"identify":[92],"nearest":[94],"point":[96],"trajectory":[99],"feedforward":[102],"inputs.":[104],"Finally,":[105],"network":[110],"controller,":[111],"adjusts":[113],"its":[114],"connection":[115],"weights":[116],"online":[117],"error":[120],"signals,":[121],"integrated":[123],"with":[124],"aforementioned":[126],"algorithms.":[128],"Numerical":[129],"simulations":[130],"demonstrate":[131],"that":[132],"this":[133],"framework":[136],"outperforms":[137],"traditional":[139],"tracking":[144],"irregular":[149],"walls,":[150],"even":[151],"presence":[154],"of":[155],"partial":[156],"actuator":[157],"failures":[158],"state":[160],"estimation":[161],"errors.":[162]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
