{"id":"https://openalex.org/W4386524676","doi":"https://doi.org/10.1109/lra.2023.3312969","title":"VACNA: Visibility-Aware Cooperative Navigation With Application in Inventory Management","display_name":"VACNA: Visibility-Aware Cooperative Navigation With Application in Inventory Management","publication_year":2023,"publication_date":"2023-09-07","ids":{"openalex":"https://openalex.org/W4386524676","doi":"https://doi.org/10.1109/lra.2023.3312969"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3312969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3312969","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5065839308","display_name":"Houman Masnavi","orcid":"https://orcid.org/0000-0003-2140-9641"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":true,"raw_author_name":"Houman Masnavi","raw_affiliation_strings":["University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0000-0003-2140-9641","affiliations":[{"raw_affiliation_string":"University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069439734","display_name":"Jatan Shrestha","orcid":"https://orcid.org/0009-0006-2115-4537"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Jatan Shrestha","raw_affiliation_strings":["University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0009-0006-2115-4537","affiliations":[{"raw_affiliation_string":"University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055075752","display_name":"Karl Kruusam\u00e4e","orcid":"https://orcid.org/0000-0002-1720-1509"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Karl Kruusam\u00e4e","raw_affiliation_strings":["University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0000-0002-1720-1509","affiliations":[{"raw_affiliation_string":"University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Arun Kumar Singh","raw_affiliation_strings":["University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0000-0003-1704-7932","affiliations":[{"raw_affiliation_string":"University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065839308"],"corresponding_institution_ids":["https://openalex.org/I56085075"],"apc_list":null,"apc_paid":null,"fwci":7.3195,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96424762,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"7114","last_page":"7121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9929999709129333,"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":0.9929999709129333,"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/T11106","display_name":"Data Management and Algorithms","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9847999811172485,"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":0.6905643939971924},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.63579261302948},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5185250043869019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4817393124103546},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.4365406632423401},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.4255397319793701},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4185003340244293},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3316323757171631},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.2096552848815918}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6905643939971924},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.63579261302948},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5185250043869019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4817393124103546},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.4365406632423401},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.4255397319793701},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4185003340244293},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3316323757171631},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2096552848815918},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3312969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3312969","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G798628753","display_name":null,"funder_award_id":"PSG753","funder_id":"https://openalex.org/F4320321090","funder_display_name":"Eesti Teadusagentuur"}],"funders":[{"id":"https://openalex.org/F4320321090","display_name":"Eesti Teadusagentuur","ror":"https://ror.org/00jjeja18"},{"id":"https://openalex.org/F4320338080","display_name":"European Social Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2560609797","https://openalex.org/W2753738274","https://openalex.org/W2770616710","https://openalex.org/W2808797110","https://openalex.org/W2901136733","https://openalex.org/W2927869062","https://openalex.org/W2960389892","https://openalex.org/W2967887251","https://openalex.org/W2976944867","https://openalex.org/W2990138309","https://openalex.org/W3017090863","https://openalex.org/W3049379553","https://openalex.org/W3105397082","https://openalex.org/W3112576174","https://openalex.org/W4200065341","https://openalex.org/W4285250753","https://openalex.org/W4288047791","https://openalex.org/W4293877733","https://openalex.org/W4379058568","https://openalex.org/W4383109321","https://openalex.org/W4385188943","https://openalex.org/W4391602018","https://openalex.org/W6640963894","https://openalex.org/W6705072498","https://openalex.org/W6744627333","https://openalex.org/W6756486208","https://openalex.org/W6763422710","https://openalex.org/W6766392005","https://openalex.org/W6776444479","https://openalex.org/W6782399914"],"related_works":["https://openalex.org/W2159052453","https://openalex.org/W3013693939","https://openalex.org/W2566616303","https://openalex.org/W3131327266","https://openalex.org/W2752972570","https://openalex.org/W4297051394","https://openalex.org/W2734887215","https://openalex.org/W2803255133","https://openalex.org/W2909431601","https://openalex.org/W3048236912"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"an":[3,9,55],"online":[4],"trajectory":[5,83],"planning":[6],"algorithm":[7],"for":[8,19,80,151],"Unmanned":[10,56],"Aerial":[11],"Vehicle":[12,58],"(UAV)":[13],"to":[14,26,123,180],"autonomously":[15],"scan":[16],"warehouse":[17],"racks":[18],"inventory":[20],"management.":[21],"Our":[22],"main":[23],"motivation":[24],"is":[25],"make":[27],"small-sized":[28],"UAVs":[29],"with":[30,162,182],"limited":[31],"computing":[32],"and":[33,148,165,170,186],"sensing":[34],"hardware":[35,193],"capable":[36],"of":[37,67,114,141,144],"reliably":[38],"performing":[39],"the":[40,61,64,82,96,101,112,129,132,142],"scanning":[41],"task":[42],"in":[43,111,131],"cluttered":[44],"environments.":[45],"To":[46],"this":[47],"end,":[48],"we":[49,136,156],"propose":[50,73],"a":[51,74,107,115,138],"cooperative":[52,69,152],"system":[53],"where":[54],"Ground":[57],"(UGV)":[59],"guides":[60],"UAV":[62],"using":[63],"novel":[65],"template":[66],"visibility-aware":[68],"navigation":[70],"(VACNA).":[71],"We":[72,104,127],"Cross-Entropy":[75],"Method":[76],"(CEM)":[77],"based":[78],"approach":[79],"solving":[81],"optimization":[84],"underpinning":[85],"VACNA.":[86],"In":[87],"particular,":[88],"our":[89,125,145,158,174,178],"CEM":[90,160],"projects":[91],"sampled":[92],"vehicle":[93],"trajectories":[94],"onto":[95],"constraint":[97,149],"sets":[98],"before":[99],"evaluating":[100],"cost":[102,147],"functions.":[103],"further":[105],"learn":[106],"deep":[108],"generative":[109],"model":[110],"form":[113],"Conditional":[116],"Variational":[117],"Autoencoder":[118],"(CVAE)":[119],"from":[120],"expert":[121],"demonstrations":[122],"warm-start":[124],"optimizer.":[126],"improve":[128],"state-of-the-art":[130],"following":[133],"respects.":[134],"First,":[135],"present":[137],"detailed":[139],"analysis":[140],"role":[143],"proposed":[146],"functions":[150],"occlusion-free":[153],"navigation.":[154],"Second,":[155],"compare":[157],"custom":[159],"optimizer":[161,179],"conventional":[163],"variants":[164],"show":[166],"significantly":[167],"reduced":[168],"collision":[169],"occlusion":[171],"rates.":[172],"Finally,":[173],"CVAE":[175],"initialization":[176],"allows":[177],"operate":[181],"smaller":[183],"batch":[184],"sizes":[185],"achieve":[187],"real-time":[188],"performance":[189],"even":[190],"on":[191],"embedded":[192],"devices":[194],"like":[195],"NVIDIA":[196],"Jetson":[197],"Xavier.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}