{"id":"https://openalex.org/W7160919787","doi":"https://doi.org/10.1109/lra.2026.3692098","title":"PEMTRS: Perception-Enhanced Memory With Temporal Region Selection for Vision-Based Multirotor Navigation","display_name":"PEMTRS: Perception-Enhanced Memory With Temporal Region Selection for Vision-Based Multirotor Navigation","publication_year":2026,"publication_date":"2026-05-12","ids":{"openalex":"https://openalex.org/W7160919787","doi":"https://doi.org/10.1109/lra.2026.3692098"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3692098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3692098","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/A5002747388","display_name":"Chenfeng Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenfeng Guo","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0001-0676-797X","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100367520","display_name":"Su Chen","orcid":"https://orcid.org/0000-0003-0264-8831"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Su","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0002-2989-8961","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071501441","display_name":"Z H Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaopeng Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3837-9138","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135954609","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9664-4534","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135913148","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5135949987","display_name":"Xiao Liang","orcid":"https://orcid.org/0000-0002-7311-8005"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7311-8005","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.88630099,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"7884","last_page":"7891"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.304500013589859,"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":0.304500013589859,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.09549999982118607,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.07240000367164612,"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/selection","display_name":"Selection (genetic algorithm)","score":0.5375000238418579},{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.3982999920845032},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.31290000677108765},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.29330000281333923},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.2700999975204468}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.61080002784729},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5375000238418579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5227000117301941},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4309999942779541},{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.3982999920845032},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2711000144481659},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.24539999663829803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3692098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3692098","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/G151289165","display_name":null,"funder_award_id":"U25A20473","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7051720999","display_name":null,"funder_award_id":"62273187","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"End-to-end":[0],"deep":[1],"learning":[2,134,143],"methods":[3,21],"for":[4,22,103,173],"autonomous":[5],"aerial":[6],"vehicles":[7],"like":[8],"multirotors":[9,23],"have":[10],"been":[11],"successfully":[12],"applied":[13],"to":[14,82,98,145,157,169],"high-agility":[15],"flight.":[16],"However,":[17],"existing":[18],"end-to-end":[19,66,123],"navigation":[20,67],"typically":[24],"rely":[25],"solely":[26],"on":[27],"the":[28,75,80,117,160,182,187],"robot's":[29],"current":[30,65],"observation":[31],"and":[32,55,92,110,165,178,184],"state,":[33],"neglecting":[34],"explicit":[35],"modeling":[36,107],"of":[37,101,186],"temporal":[38,57,95,111],"sequence":[39],"information.":[40],"Yet":[41],"trajectory":[42],"prediction":[43],"is":[44,59],"inherently":[45],"temporal:":[46],"past":[47],"observations":[48],"provide":[49],"cues":[50],"about":[51],"future":[52],"feasible":[53],"regions,":[54],"this":[56],"feasibility":[58],"still":[60],"not":[61],"explicitly":[62],"exploited":[63],"in":[64],"frameworks.":[68],"To":[69,125],"overcome":[70],"these":[71],"limitations,":[72],"we":[73,130,151],"propose":[74],"PEMTRS":[76,113],"framework,":[77],"which":[78],"enables":[79],"multirotor":[81],"fly":[83],"with":[84,141],"thinking":[85],"by":[86],"building":[87],"a":[88,94,166],"perception-enhanced":[89],"memory":[90],"structure":[91],"employing":[93],"region":[96],"selector":[97],"highlight":[99],"regions":[100],"interest":[102],"traversability.":[104],"By":[105],"jointly":[106],"spatial":[108],"perception":[109,174],"information,":[112],"generalizes":[114],"better":[115],"within":[116],"evaluated":[118],"environment":[119],"class":[120],"than":[121],"state-of-the-art":[122],"methods.":[124],"achieve":[126],"more":[127],"efficient":[128],"training,":[129],"adopt":[131],"an":[132,153],"implicit":[133],"strategy":[135],"that":[136],"replaces":[137],"expert-labeled":[138],"demonstration":[139],"trajectories":[140],"cost-based":[142],"signals":[144],"guide":[146],"network":[147,156],"optimization.":[148],"In":[149],"addition,":[150],"design":[152],"adaptive":[154],"time-allocation":[155],"dynamically":[158],"adjust":[159],"time":[161],"intervals":[162],"between":[163],"waypoints":[164],"residual":[167],"VAE":[168],"reconstruct":[170],"obstacle":[171],"depth":[172],"enhancement.":[175],"Finally,":[176],"simulation":[177],"real-world":[179],"experiments":[180],"validate":[181],"effectiveness":[183],"efficiency":[185],"proposed":[188],"method.":[189]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-13T00:00:00"}
