{"id":"https://openalex.org/W4386920631","doi":"https://doi.org/10.1109/lra.2023.3314350","title":"LPNet: A Reaction-Based Local Planner for Autonomous Collision Avoidance Using Imitation Learning","display_name":"LPNet: A Reaction-Based Local Planner for Autonomous Collision Avoidance Using Imitation Learning","publication_year":2023,"publication_date":"2023-09-21","ids":{"openalex":"https://openalex.org/W4386920631","doi":"https://doi.org/10.1109/lra.2023.3314350"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3314350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3314350","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/A5061171637","display_name":"Junjie Lu","orcid":"https://orcid.org/0000-0002-0993-9765"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Lu","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0993-9765","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003234602","display_name":"Bailing Tian","orcid":"https://orcid.org/0000-0003-1004-8350"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bailing Tian","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1004-8350","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077151885","display_name":"Hongming Shen","orcid":"https://orcid.org/0000-0003-0141-1904"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongming Shen","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0141-1904","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100601224","display_name":"Xuewei Zhang","orcid":"https://orcid.org/0000-0003-4512-1335"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuewei Zhang","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4512-1335","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038014422","display_name":"Yulin Hui","orcid":"https://orcid.org/0009-0002-3124-2566"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulin Hui","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0002-3124-2566","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8913,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.88200659,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"7058","last_page":"7065"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6881688833236694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6759655475616455},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6365991234779358},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6052267551422119},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5645256638526917},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5454235672950745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5383883714675903},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5268610715866089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5004830360412598},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47288694977760315},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4581410586833954},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42837703227996826},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3771512508392334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33787164092063904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26858699321746826},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24880200624465942},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1708483099937439}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6881688833236694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6759655475616455},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6365991234779358},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6052267551422119},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5645256638526917},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5454235672950745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5383883714675903},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5268610715866089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5004830360412598},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47288694977760315},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4581410586833954},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42837703227996826},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3771512508392334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33787164092063904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26858699321746826},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24880200624465942},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1708483099937439},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3314350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3314350","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":[{"display_name":"Sustainable cities and communities","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1763732274","display_name":null,"funder_award_id":"62022060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6497725696","display_name":null,"funder_award_id":"62073234","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7303293037","display_name":null,"funder_award_id":"62273249","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G854082252","display_name":null,"funder_award_id":"62203415","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2019965290","https://openalex.org/W2162991084","https://openalex.org/W2181845023","https://openalex.org/W2194775991","https://openalex.org/W2482392012","https://openalex.org/W2561780869","https://openalex.org/W2587415290","https://openalex.org/W2772356073","https://openalex.org/W2788239209","https://openalex.org/W2962787639","https://openalex.org/W2962957005","https://openalex.org/W2963497136","https://openalex.org/W3004227484","https://openalex.org/W3082697078","https://openalex.org/W3090360675","https://openalex.org/W3114626444","https://openalex.org/W3135798748","https://openalex.org/W3198125712","https://openalex.org/W3202883604","https://openalex.org/W3203180165","https://openalex.org/W4221155307","https://openalex.org/W4224914563","https://openalex.org/W4313855813","https://openalex.org/W6782364735"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W4322628047","https://openalex.org/W2102947728"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"propose":[4],"a":[5,31,45,85,108],"reaction-based":[6],"local":[7],"planner":[8],"for":[9,27,104],"autonomous":[10],"collision":[11],"avoidance":[12],"of":[13,33,64,76,110,120],"quadrotor":[14,78],"in":[15,36,124],"obstacle-cluttered":[16],"environment":[17],"without":[18],"relying":[19],"on":[20],"an":[21,49],"explicit":[22],"map.":[23],"Our":[24],"approach":[25],"searches":[26],"feasible":[28],"trajectory":[29],"using":[30],"set":[32],"motion":[34,65],"primitives":[35,66],"state":[37,74],"lattice":[38],"and":[39,72,95,118,127],"represents":[40],"the":[41,62,68,73,77,82,93,116,121],"optimal":[42,50],"one":[43],"as":[44],"polynomial":[46],"by":[47],"solving":[48],"control":[51],"problem.":[52],"A":[53],"modified":[54],"Q-network,":[55],"termed":[56],"LPNet,":[57,84],"is":[58,99],"presented":[59],"to":[60,101,114],"predict":[61],"action-values":[63],"from":[67],"current":[69],"depth":[70],"image":[71],"estimation":[75],"directly.":[79],"To":[80],"train":[81],"proposed":[83,122],"primitive-based":[86],"expert":[87],"policy":[88],"with":[89],"privileged":[90],"information":[91],"about":[92],"surroundings":[94],"unconstrained":[96],"computational":[97],"budget":[98],"developed":[100],"provide":[102],"demonstrations":[103],"imitation":[105],"learning.":[106],"Finally,":[107],"series":[109],"experiments":[111],"are":[112],"conducted":[113],"demonstrate":[115],"effectiveness":[117],"time-efficiency":[119],"method":[123],"both":[125],"simulation":[126],"real-world.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
