{"id":"https://openalex.org/W4402830226","doi":"https://doi.org/10.1109/lra.2024.3468091","title":"HE-Nav: A High-Performance and Efficient Navigation System for Aerial-Ground Robots in Cluttered Environments","display_name":"HE-Nav: A High-Performance and Efficient Navigation System for Aerial-Ground Robots in Cluttered Environments","publication_year":2024,"publication_date":"2024-09-25","ids":{"openalex":"https://openalex.org/W4402830226","doi":"https://doi.org/10.1109/lra.2024.3468091"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3468091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3468091","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/A5008073835","display_name":"Junming Wang","orcid":"https://orcid.org/0000-0002-2271-8270"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Junming Wang","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-2271-8270","affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019447246","display_name":"Z. T. Sun","orcid":"https://orcid.org/0000-0003-0269-7940"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zekai Sun","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-0269-7940","affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035241109","display_name":"Xiuxian Guan","orcid":"https://orcid.org/0000-0001-6133-8388"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiuxian Guan","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-6133-8388","affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071077154","display_name":"Tianxiang Shen","orcid":"https://orcid.org/0000-0002-6116-5488"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tianxiang Shen","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-6116-5488","affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100308056","display_name":"Dong Huang","orcid":"https://orcid.org/0000-0001-9715-6922"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dong Huang","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080465399","display_name":"Zongyuan Zhang","orcid":"https://orcid.org/0000-0003-4577-2613"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zongyuan Zhang","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052900159","display_name":"Tianyang Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tianyang Duan","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048398271","display_name":"Fangming Liu","orcid":"https://orcid.org/0000-0002-8570-1345"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangming Liu","raw_affiliation_strings":["Peng Cheng Laboratory, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-8570-1345","affiliations":[{"raw_affiliation_string":"Peng Cheng Laboratory, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641","https://openalex.org/I4210136793"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015360935","display_name":"Heming Cui","orcid":"https://orcid.org/0000-0001-7746-440X"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Heming Cui","raw_affiliation_strings":["University of Hong Kong, Hong Kong SAR, China","University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-7746-440X","affiliations":[{"raw_affiliation_string":"University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5008073835"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":1.4285,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83168945,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"11","first_page":"10383","last_page":"10390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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":0.9951000213623047,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.993399977684021,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9865000247955322,"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/robot","display_name":"Robot","score":0.6994867920875549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5110970139503479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49970507621765137},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38988494873046875},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3247618079185486},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.24666231870651245}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6994867920875549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5110970139503479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49970507621765137},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38988494873046875},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3247618079185486},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.24666231870651245}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3468091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3468091","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":[{"score":0.49000000953674316,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2194775991","https://openalex.org/W2557465155","https://openalex.org/W2724723616","https://openalex.org/W2795587607","https://openalex.org/W2981689412","https://openalex.org/W3003464919","https://openalex.org/W3114626444","https://openalex.org/W3115752412","https://openalex.org/W3126856052","https://openalex.org/W3126895580","https://openalex.org/W3201467792","https://openalex.org/W3215584334","https://openalex.org/W4210269514","https://openalex.org/W4221162708","https://openalex.org/W4383066393","https://openalex.org/W4385482440","https://openalex.org/W4386066358","https://openalex.org/W4386075718","https://openalex.org/W4389666133","https://openalex.org/W4401414746","https://openalex.org/W6631190155","https://openalex.org/W6751420435","https://openalex.org/W6786772111","https://openalex.org/W6846786164","https://openalex.org/W6846919797","https://openalex.org/W6848895518"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Existing":[0],"AGR":[1],"navigation":[2,82],"systems":[3,37],"have":[4],"advanced":[5],"in":[6,43,88,129,180,190],"lightly":[7],"occluded":[8],"scenarios":[9],"(e.g.,":[10,49],"buildings)":[11],"by":[12,103,113],"employing":[13],"3D":[14],"semantic":[15,97],"scene":[16,98],"completion":[17,99],"networks":[18],"for":[19,31,85],"voxel":[20],"occupancy":[21],"prediction":[22,63,128],"and":[23,41,65,80,111,119,125,166],"constructing":[24],"Euclidean":[25],"Signed":[26],"Distance":[27],"Field":[28],"(ESDF)":[29],"maps":[30],"collision-free":[32],"path":[33,66],"planning.":[34],"However,":[35],"these":[36],"exhibit":[38],"suboptimal":[39],"performance":[40],"efficiency":[42],"cluttered":[44,89,130],"environments":[45],"with":[46],"severe":[47],"occlusions":[48],"dense":[50],"forests":[51],"or":[52],"tall":[53],"walls),":[54],"due":[55],"to":[56,152],"limitations":[57],"arising":[58],"from":[59],"perception":[60,92],"networks'":[61],"low":[62],"accuracy":[64],"planners'":[67],"high":[68],"computational":[69],"overhead.":[70],"In":[71],"this":[72,139],"letter,":[73],"we":[74],"present":[75],"HE-Nav,":[76],"the":[77,146],"first":[78],"high-performance":[79],"efficient":[81,126],"system":[83],"tailored":[84],"AGRs":[86],"operating":[87],"environments.":[90],"The":[91],"module":[93,118],"utilizes":[94],"a":[95,104,133],"lightweight":[96],"network":[100],"(LBSCNet),":[101],"guided":[102],"bird's":[105],"eye":[106],"view":[107],"(BEV)":[108],"feature":[109],"fusion":[110],"enhanced":[112],"an":[114],"exquisitely":[115],"designed":[116],"SCB-Fusion":[117],"attention":[120],"mechanism.":[121],"This":[122],"enables":[123],"real-time":[124],"obstacle":[127],"areas,":[131],"generating":[132],"complete":[134],"local":[135],"map.":[136],"Building":[137],"upon":[138],"completed":[140],"map,":[141],"our":[142],"novel":[143],"AG-Planner":[144],"employs":[145],"energy-efficient":[147],"kinodynamic":[148],"A*":[149],"search":[150],"algorithm":[151],"guarantee":[153],"planning":[154,185],"is":[155],"energy-saving.":[156],"Subsequent":[157],"trajectory":[158],"optimization":[159],"processes":[160],"yield":[161],"safe,":[162],"smooth,":[163],"dynamically":[164],"feasible":[165],"ESDF-free":[167],"aerial-ground":[168],"hybrid":[169],"paths.":[170],"Extensive":[171],"experiments":[172],"demonstrate":[173],"that":[174],"HE-Nav":[175],"achieved":[176],"7x":[177],"energy":[178],"savings":[179],"real-world":[181],"situations":[182],"while":[183],"maintaining":[184],"success":[186],"rates":[187],"of":[188],"98%":[189],"simulation":[191],"scenarios.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}