{"id":"https://openalex.org/W4408144919","doi":"https://doi.org/10.1109/tase.2025.3547338","title":"Fully Asynchronous Neuromorphic Perception for Mobile Robot Dodging With Loihi Chips","display_name":"Fully Asynchronous Neuromorphic Perception for Mobile Robot Dodging With Loihi Chips","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408144919","doi":"https://doi.org/10.1109/tase.2025.3547338"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3547338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3547338","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5101993413","display_name":"Junjie Jiang","orcid":"https://orcid.org/0000-0002-6820-8487"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junjie Jiang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-6820-8487","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024368503","display_name":"Delei Kong","orcid":"https://orcid.org/0000-0002-5681-587X"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Delei Kong","raw_affiliation_strings":["School of Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-5681-587X","affiliations":[{"raw_affiliation_string":"School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108612551","display_name":"Chenming Hu","orcid":"https://orcid.org/0009-0000-9599-3401"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenming Hu","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0009-0000-9599-3401","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064687463","display_name":"Zheng Fang","orcid":"https://orcid.org/0000-0003-3887-3141"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Fang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-3887-3141","affiliations":[{"raw_affiliation_string":"Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101993413"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":3.8052,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.92833996,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"12802","last_page":"12815"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12923","display_name":"Digital Image Processing Techniques","score":0.9858999848365784,"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/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.9397953748703003},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.7412075996398926},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5903761386871338},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5778552889823914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.563637375831604},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5173353552818298},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4224483370780945},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4059479236602783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2764695882797241},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2040678858757019},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.19380199909210205},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.14437806606292725},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.11300751566886902}],"concepts":[{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.9397953748703003},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.7412075996398926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5903761386871338},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5778552889823914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.563637375831604},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5173353552818298},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4224483370780945},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4059479236602783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2764695882797241},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2040678858757019},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.19380199909210205},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.14437806606292725},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.11300751566886902}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3547338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3547338","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2311391187","display_name":null,"funder_award_id":"B16009","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G2871798451","display_name":null,"funder_award_id":"N2226001","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6509363187","display_name":null,"funder_award_id":"62073066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8810762203","display_name":null,"funder_award_id":"RV2.137","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"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1604973310","https://openalex.org/W1932847118","https://openalex.org/W1965555277","https://openalex.org/W2006370340","https://openalex.org/W2621826044","https://openalex.org/W2783525259","https://openalex.org/W2796402180","https://openalex.org/W2904275768","https://openalex.org/W2990793844","https://openalex.org/W2998281665","https://openalex.org/W3010268791","https://openalex.org/W3040838455","https://openalex.org/W3091146474","https://openalex.org/W3091431973","https://openalex.org/W3091858974","https://openalex.org/W3127641627","https://openalex.org/W3133758660","https://openalex.org/W3186962187","https://openalex.org/W3198957722","https://openalex.org/W4225886149","https://openalex.org/W4309160143","https://openalex.org/W4313015975","https://openalex.org/W4313046416","https://openalex.org/W4313124159","https://openalex.org/W4319866562","https://openalex.org/W4361801129","https://openalex.org/W4366503954","https://openalex.org/W4376111524","https://openalex.org/W4376136446","https://openalex.org/W4385453100","https://openalex.org/W4385805229","https://openalex.org/W4386075690","https://openalex.org/W4386076266","https://openalex.org/W4387010759","https://openalex.org/W4387790316","https://openalex.org/W4391467999","https://openalex.org/W4391468373","https://openalex.org/W4391741850","https://openalex.org/W4396917670","https://openalex.org/W4400488723","https://openalex.org/W4401806424","https://openalex.org/W6754595668","https://openalex.org/W6853666707","https://openalex.org/W6861884764","https://openalex.org/W6991013602"],"related_works":["https://openalex.org/W2986579802","https://openalex.org/W4389237622","https://openalex.org/W3108691306","https://openalex.org/W4385753159","https://openalex.org/W4200152843","https://openalex.org/W4214914769","https://openalex.org/W4387251107","https://openalex.org/W2166309310","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Sparse":[0],"and":[1,4,13,28,50,81,155,167,197,233,307,314,354,375,397,420],"asynchronous":[2,72,261,315,370,381,386,409],"sensing":[3],"processing":[5,35,101,131,170,382,387],"in":[6,102,172,296],"natural":[7],"organisms":[8],"lead":[9],"to":[10,111,151,278,291,299,346,379,423],"ultra":[11],"low-latency":[12],"energy-efficient":[14],"perception.":[15,431],"Inspired":[16],"by":[17],"these":[18,66],"characteristics,":[19],"event":[20,33,38,48,62,77,92,115,120,165,221,239,285,318,331,337,352,373,389],"cameras":[21],"have":[22],"attracted":[23],"extensive":[24],"attention":[25],"from":[26,57,117],"academia":[27],"industry.":[29],"However,":[30,311],"the":[31,58,98,113,118,124,139,143,161,175,201,210,220,238,243,248,255,284,312,369,425],"mainstream":[32,328],"stream":[34,116],"paradigms":[36,171],"(e.g.,":[37,336],"frames,":[39,338],"3D":[40,168,339],"voxels)":[41,340],"encounter":[42],"issues":[43,347],"such":[44,348],"as":[45,94,349],"feature":[46,350],"loss,":[47,351],"stacking,":[49,353],"high":[51,301,355],"computational":[52,356],"burden.":[53,357],"These":[54],"problems":[55],"deviate":[56],"intended":[59],"purpose":[60],"of":[61,126,206,217,219,235,237,250,317,372,383,388],"cameras.":[63],"To":[64,247],"address":[65],"issues,":[67],"we":[68,137,159,361],"propose":[69,107,138,362],"a":[70,108,259,272,280,288,321,363,416],"fully":[71,260,364,408],"neuromorphic":[73,82,134,245,262,281,365,410],"paradigm":[74,87,163,263],"that":[75,184,218,236,258,367],"integrates":[76],"cameras,":[78],"spiking":[79,148,376],"networks,":[80],"processors":[83],"(Intel":[84],"Loihi).":[85],"This":[86],"can":[88],"faithfully":[89],"process":[90],"each":[91],"asynchronously":[93],"it":[95],"arrives,":[96],"mimicking":[97],"spike-driven":[99],"signal":[100],"biological":[103,430],"brains.":[104],"We":[105],"first":[106,256],"Key-Event-Point":[109],"module":[110],"extract":[112],"key":[114],"raw":[119],"stream,":[121],"effectively":[122],"addressing":[123],"issue":[125],"limited":[127],"transmission":[128],"bandwidth":[129],"when":[130],"events":[132],"on":[133,147,174,209,225,242,271,415],"processors.":[135],"Then,":[136],"complete":[140],"pipeline":[141],"for":[142,267,324],"dodging":[144,179],"network":[145],"based":[146],"neural":[149,377],"networks":[150,378],"achieve":[152],"offline":[153],"training":[154],"online":[156],"inference.":[157,406],"Finally,":[158],"compare":[160],"proposed":[162],"with":[164,193,230],"frames":[166],"voxels":[169],"detail":[173],"real":[176,273,417],"mobile":[177,274,418],"robot":[178,419,426],"task.":[180],"Experimental":[181],"results":[182],"show":[183],"our":[185,207,251],"scheme":[186,208],"exhibits":[187],"better":[188],"robustness":[189,392],"than":[190],"image-like":[191],"methods":[192],"different":[194,394],"time":[195,257,395],"windows":[196,396],"light":[198],"conditions.":[199],"Additionally,":[200],"energy":[202],"consumption":[203,404],"per":[204],"inference":[205],"embedded":[211],"Loihi":[212],"processor":[213],"is":[214,254,421],"only":[215],"4.30%":[216],"spike":[222],"tensor":[223],"method":[224,241],"NVIDIA":[226],"Jetson":[227],"Orin":[228],"NX":[229],"energy-saving":[231],"mode,":[232],"1.64%":[234],"frame":[240],"same":[244],"processor.":[246],"best":[249],"knowledge,":[252],"this":[253,359],"has":[264,412],"been":[265,413],"implemented":[266],"solving":[268],"sequential":[269],"tasks":[270],"robot.<italic":[275],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[276],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[277],"Practitioners</i>\u2014As":[279],"visual":[282],"sensor,":[283],"camera":[286],"offers":[287],"novel":[289],"approach":[290,329],"achieving":[292],"robust,":[293],"low-power":[294],"perception":[295,427],"robotics,":[297],"owing":[298],"its":[300],"temporal":[302],"resolution,":[303],"wide":[304],"dynamic":[305],"range,":[306],"low":[308],"information":[309],"redundancy.":[310],"sparse":[313],"nature":[316],"streams":[319,332,374,390],"presents":[320],"significant":[322],"challenge":[323],"data":[325],"processing.":[326],"The":[327],"preprocesses":[330],"into":[333],"various":[334],"representations":[335],"before":[341],"performing":[342],"subsequent":[343],"operations,":[344],"leading":[345],"In":[358],"paper,":[360],"system":[366,411,428],"leverages":[368],"characteristics":[371],"enable":[380],"events.":[384],"Our":[385,407],"enhances":[391],"across":[393],"lighting":[398],"conditions":[399],"while":[400],"significantly":[401],"reducing":[402],"power":[403],"during":[405],"validated":[414],"expected":[422],"advance":[424],"towards":[429]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-04-24T08:23:43.765630","created_date":"2025-10-10T00:00:00"}