{"id":"https://openalex.org/W7082661589","doi":"https://doi.org/10.1109/taes.2025.3612352","title":"From Sensors to Rotors: Generative Neural Network Driven Hierarchical Learning for Agile Drone Dynamic Target Tracking","display_name":"From Sensors to Rotors: Generative Neural Network Driven Hierarchical Learning for Agile Drone Dynamic Target Tracking","publication_year":2025,"publication_date":"2025-09-22","ids":{"openalex":"https://openalex.org/W7082661589","doi":"https://doi.org/10.1109/taes.2025.3612352"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2025.3612352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3612352","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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":"Guodong Zhao","orcid":"https://orcid.org/0000-0003-4278-1928"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Zhao","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4278-1928","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jingjing Wang","orcid":"https://orcid.org/0000-0003-3170-8952"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjing Wang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3170-8952","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ye Wang","orcid":"https://orcid.org/0009-0007-9263-1596"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Wang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-9263-1596","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhijun Meng","orcid":"https://orcid.org/0000-0002-2769-4343"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Meng","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2769-4343","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zichen Wang","orcid":"https://orcid.org/0009-0001-8661-0453"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen Wang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-8661-0453","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xin Zhang","orcid":"https://orcid.org/0000-0002-8414-3556"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8414-3556","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":null,"display_name":"Chunxiao Jiang","orcid":"https://orcid.org/0000-0002-3703-121X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiao Jiang","raw_affiliation_strings":["Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3703-121X","affiliations":[{"raw_affiliation_string":"Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.188,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94795485,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"61","issue":"6","first_page":"18396","last_page":"18412"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.659600019454956,"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"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.659600019454956,"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"}},{"id":"https://openalex.org/T13067","display_name":"Geological Modeling and Analysis","score":0.02449999935925007,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.01979999989271164,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.607699990272522},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5521000027656555},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.521399974822998},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.49619999527931213},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.46630001068115234},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.421099990606308},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4115999937057495},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.4115000069141388},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3774000108242035}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6513000130653381},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.607699990272522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5957000255584717},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5521000027656555},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.521399974822998},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.49619999527931213},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.46630001068115234},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42800000309944153},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.421099990606308},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42100000381469727},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4115999937057495},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.4115000069141388},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3774000108242035},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.375},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37470000982284546},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.36820000410079956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3659000098705292},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3628999888896942},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3452000021934509},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3278000056743622},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3125},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2971999943256378},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2924000024795532},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29190000891685486},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.28679999709129333},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.26159998774528503},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.2572999894618988}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2025.3612352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3612352","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1195673862","display_name":null,"funder_award_id":"62341131","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1634902648","display_name":null,"funder_award_id":"61976014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2360824495","display_name":null,"funder_award_id":"U24A20213","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3115239933","display_name":null,"funder_award_id":"L232043","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G3691577514","display_name":null,"funder_award_id":"62571011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4489542801","display_name":"\u65e0\u4eba\u673a\u81ea\u7ec4\u7f51\u901a\u4fe1\u4e0e\u63a7\u5236\u534f\u540c\u878d\u5408\u7814\u7a76","funder_award_id":"LMS25F010007","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G4821715942","display_name":null,"funder_award_id":"62325108","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6592563630","display_name":null,"funder_award_id":"2022Z071051001","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"},{"id":"https://openalex.org/G7518945406","display_name":null,"funder_award_id":"62222101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7803121516","display_name":null,"funder_award_id":"L222039","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1530919911","https://openalex.org/W2162991084","https://openalex.org/W2615547864","https://openalex.org/W2733312032","https://openalex.org/W2741178546","https://openalex.org/W2745859992","https://openalex.org/W2788239209","https://openalex.org/W2896977747","https://openalex.org/W2962890638","https://openalex.org/W3007348149","https://openalex.org/W3029808435","https://openalex.org/W3085003843","https://openalex.org/W3089758177","https://openalex.org/W3114626444","https://openalex.org/W3135798748","https://openalex.org/W3197225143","https://openalex.org/W3199091020","https://openalex.org/W3202883604","https://openalex.org/W3205649931","https://openalex.org/W4210423514","https://openalex.org/W4224914563","https://openalex.org/W4229007520","https://openalex.org/W4229014698","https://openalex.org/W4285102199","https://openalex.org/W4312571988","https://openalex.org/W4312667138","https://openalex.org/W4313484940","https://openalex.org/W4367016688","https://openalex.org/W4383066353","https://openalex.org/W4386076400","https://openalex.org/W4386285856","https://openalex.org/W4387197045","https://openalex.org/W4388819702","https://openalex.org/W4388983773","https://openalex.org/W4390969164","https://openalex.org/W4391019623","https://openalex.org/W4392151810","https://openalex.org/W4392251589","https://openalex.org/W4396542455","https://openalex.org/W4400229167","https://openalex.org/W4400362143","https://openalex.org/W4401416687","https://openalex.org/W4402673197","https://openalex.org/W4402830226","https://openalex.org/W4403277438","https://openalex.org/W4405600304","https://openalex.org/W4406611551","https://openalex.org/W4407948422","https://openalex.org/W4408100247","https://openalex.org/W4411086446","https://openalex.org/W4411639912","https://openalex.org/W4412170806"],"related_works":[],"abstract_inverted_index":{"Traditional":[0],"motion":[1],"planning":[2,146],"pipelines":[3],"for":[4,51,172],"autonomous":[5],"drones":[6,72],"often":[7],"separate":[8],"perception,":[9],"planning,":[10],"and":[11,20,42,109,160],"control":[12,131],"into":[13],"distinct":[14],"layers,":[15],"resulting":[16],"in":[17,24,55,137,156,175],"information":[18],"loss":[19],"reduced":[21],"agility,":[22],"particularly":[23],"dynamic":[25,53,142],"target":[26],"tracking":[27,52],"within":[28],"obstacledense":[29],"environments.":[30,178],"End-to-end":[31],"neural":[32],"networks":[33],"offer":[34],"alternatives":[35],"but":[36],"face":[37],"challenges":[38],"with":[39,113,141],"data":[40],"utilization":[41],"exploration.":[43,135],"This":[44],"paper":[45],"introduces":[46],"a":[47,61,125],"hierarchical":[48],"learning":[49,102,112],"framework":[50,69],"targets":[54,143],"complex,":[56],"cluttered":[57],"environments,":[58,159],"built":[59],"around":[60],"vector":[62],"quantized":[63],"variational":[64],"autoencoder":[65],"(VQ-VAE)":[66],"architecture.":[67],"The":[68,121],"uniquely":[70],"enables":[71],"to":[73,103,106,117],"learn":[74],"what":[75],"lowlevel":[76],"rotor":[77,107],"commands":[78],"achieve":[79],"expert-demonstrated":[80],"high-level":[81],"goals,":[82],"rather":[83],"than":[84,165],"directly":[85],"mimicking":[86],"expert":[87,94],"outputs.":[88],"Our":[89],"three-stage":[90],"approach":[91],"generates":[92],"high-quality":[93],"trajectories":[95],"using":[96],"global":[97],"SE(3)":[98],"optimization,":[99],"employs":[100],"reinforcement-supervised":[101],"map":[104],"perceptions":[105],"commands,":[108],"uses":[110],"reinforcement":[111],"pre-trained":[114],"VQ-VAE":[115,122],"components":[116],"surpass":[118],"initial":[119],"demonstrations.":[120],"serves":[123],"as":[124],"knowledge":[126],"bridge":[127],"between":[128],"stages,":[129],"preserving":[130],"skills":[132],"while":[133],"enabling":[134],"Experiments":[136],"dense":[138],"obstacle":[139,150],"scenarios":[140],"demonstrate":[144],"sub-second":[145],"cycles":[147],"regardless":[148],"of":[149],"density,":[151],"success":[152],"rates":[153],"exceeding":[154],"90%":[155],"moderately":[157],"complex":[158],"velocities":[161],"4-5":[162],"times":[163],"higher":[164],"comparable":[166],"approaches,":[167],"proving":[168],"the":[169],"framework's":[170],"effectiveness":[171],"agile":[173],"navigation":[174],"unpredictable,":[176],"obstacle-rich":[177]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-10T00:00:00"}