{"id":"https://openalex.org/W4417131014","doi":"https://doi.org/10.1109/lra.2025.3641149","title":"Threat-Aware UAV Dodging of Human-Thrown Projectiles With an RGB-D Camera","display_name":"Threat-Aware UAV Dodging of Human-Thrown Projectiles With an RGB-D Camera","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W4417131014","doi":"https://doi.org/10.1109/lra.2025.3641149"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3641149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641149","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":null,"display_name":"Yuying Zhang","orcid":"https://orcid.org/0009-0001-4925-0583"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuying Zhang","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0001-4925-0583","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091403118","display_name":"Na Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I146617529","display_name":"Applied Science and Technology Research Institute","ror":"https://ror.org/03xmkea05","country_code":"CN","type":"facility","lineage":["https://openalex.org/I146617529"]},{"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":["CN","HK"],"is_corresponding":false,"raw_author_name":"Na Fan","raw_affiliation_strings":["Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China","Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9219-783X","affiliations":[{"raw_affiliation_string":"Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haowen Zheng","orcid":"https://orcid.org/0009-0008-6827-9171"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haowen Zheng","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-6827-9171","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041238438","display_name":"Junning Liang","orcid":"https://orcid.org/0009-0008-2608-9310"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junning Liang","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-2608-9310","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zongliang Pan","orcid":"https://orcid.org/0009-0000-5669-0627"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongliang Pan","raw_affiliation_strings":["Shenzhen ePropulsion Technology Limited, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0000-5669-0627","affiliations":[{"raw_affiliation_string":"Shenzhen ePropulsion Technology Limited, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719529","display_name":"Qifeng Chen","orcid":"https://orcid.org/0000-0003-2199-3948"},"institutions":[{"id":"https://openalex.org/I146617529","display_name":"Applied Science and Technology Research Institute","ror":"https://ror.org/03xmkea05","country_code":"CN","type":"facility","lineage":["https://openalex.org/I146617529"]},{"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":["CN","HK"],"is_corresponding":false,"raw_author_name":"Qifeng Chen","raw_affiliation_strings":["Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China","Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-2199-3948","affiliations":[{"raw_affiliation_string":"Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Visual Intelligence Lab, Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I146617529","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049902495","display_name":"Ximin Lyu","orcid":"https://orcid.org/0000-0002-5204-5628"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ximin Lyu","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5204-5628","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38318078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1178","last_page":"1185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.41200000047683716,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.41200000047683716,"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":0.07810000330209732,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.06430000066757202,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/projectile","display_name":"Projectile","score":0.6906999945640564},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4805000126361847},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4683000147342682},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.3691999912261963},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.3059999942779541}],"concepts":[{"id":"https://openalex.org/C49304495","wikidata":"https://www.wikidata.org/wiki/Q49393","display_name":"Projectile","level":2,"score":0.6906999945640564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6204000115394592},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6175000071525574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5509999990463257},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4805000126361847},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4683000147342682},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.3691999912261963},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.305400013923645},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2768000066280365}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3641149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641149","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"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-168423","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-168423","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6093466242","display_name":null,"funder_award_id":"62303495","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2091767348","https://openalex.org/W2587088476","https://openalex.org/W2789435382","https://openalex.org/W2909324603","https://openalex.org/W2913365477","https://openalex.org/W2962730651","https://openalex.org/W3011524659","https://openalex.org/W3089858107","https://openalex.org/W3091146474","https://openalex.org/W3134027214","https://openalex.org/W3135798748","https://openalex.org/W3188485279","https://openalex.org/W3199037603","https://openalex.org/W4225120267","https://openalex.org/W4294982669","https://openalex.org/W4312799843","https://openalex.org/W4386453588","https://openalex.org/W4390872732","https://openalex.org/W4390874423","https://openalex.org/W4405786006","https://openalex.org/W4407948422","https://openalex.org/W4408941168"],"related_works":[],"abstract_inverted_index":{"Uncrewed":[0],"aerial":[1,10],"vehicles":[2],"(UAVs)":[3],"performing":[4],"tasks":[5],"such":[6,21],"as":[7],"transportation":[8],"and":[9,24,37,83,111,118,125,144],"photography":[11],"are":[12,49],"vulnerable":[13],"to":[14,51,77,95,99,128],"intentional":[15],"projectile":[16,26,86],"attacks":[17,143],"from":[18,42],"humans.":[19],"Dodging":[20],"a":[22,28,58],"sudden":[23,142],"fast":[25],"poses":[27],"significant":[29],"challenge":[30],"for":[31],"UAVs,":[32],"requiring":[33],"ultra-low":[34],"latency":[35],"responses":[36],"agile":[38],"maneuvers.":[39],"Drawing":[40],"inspiration":[41],"baseball,":[43],"in":[44,115],"which":[45],"pitchers'":[46],"body":[47],"movements":[48],"analyzed":[50],"predict":[52,78],"the":[53,79,84,97,113,136],"ball's":[54],"trajectory,":[55],"we":[56,89],"propose":[57],"novel":[59],"real-time":[60],"dodging":[61,93,121,139],"system":[62,106],"that":[63],"leverages":[64],"an":[65,91],"RGB-D":[66],"camera.":[67],"Our":[68,104],"approach":[69],"integrates":[70],"human":[71],"pose":[72],"estimation":[73],"with":[74],"depth":[75],"information":[76],"attacker's":[80],"motion":[81],"trajectory":[82],"subsequent":[85],"trajectory.":[87],"Additionally,":[88],"introduce":[90],"uncertainty-aware":[92],"strategy":[94,122],"enable":[96],"UAV":[98,130],"dodge":[100],"incoming":[101],"projectiles":[102],"efficiently.":[103],"perception":[105],"achieves":[107],"high":[108],"prediction":[109],"accuracy":[110],"outperforms":[112],"baseline":[114],"effective":[116],"distance":[117],"latency.":[119],"The":[120],"addresses":[123],"temporal":[124],"spatial":[126],"uncertainties":[127],"ensure":[129],"safety.":[131],"Extensive":[132],"real-world":[133],"experiments":[134],"demonstrate":[135],"framework's":[137],"reliable":[138],"capabilities":[140],"against":[141],"its":[145],"outstanding":[146],"robustness":[147],"across":[148],"diverse":[149],"scenarios.":[150]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-12-08T00:00:00"}