{"id":"https://openalex.org/W7116426185","doi":"https://doi.org/10.1109/tase.2025.3646588","title":"HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environments","display_name":"HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environments","publication_year":2025,"publication_date":"2025-12-19","ids":{"openalex":"https://openalex.org/W7116426185","doi":"https://doi.org/10.1109/tase.2025.3646588"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3646588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3646588","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/A5052644162","display_name":"Shuijing Liu","orcid":"https://orcid.org/0000-0002-0038-2956"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shuijing Liu","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, United States"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025840155","display_name":"Haochen Xia","orcid":"https://orcid.org/0009-0000-9660-536X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haochen Xia","raw_affiliation_strings":["University of Illinois Urbana–Champaign, Urbana, IL, United States"],"affiliations":[{"raw_affiliation_string":"University of Illinois Urbana–Champaign, Urbana, IL, United States","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107671879","display_name":"Fatemeh Cheraghi Pouria","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fatemeh Cheraghi Pouria","raw_affiliation_strings":["University of Illinois Urbana–Champaign, Urbana, IL, United States"],"affiliations":[{"raw_affiliation_string":"University of Illinois Urbana–Champaign, Urbana, IL, United States","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070225549","display_name":"Kaiwen Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaiwen Hong","raw_affiliation_strings":["University of Illinois Urbana–Champaign, Urbana, IL, United States"],"affiliations":[{"raw_affiliation_string":"University of Illinois Urbana–Champaign, Urbana, IL, United States","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083340170","display_name":"Neeloy Chakraborty","orcid":"https://orcid.org/0000-0001-7132-6671"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neeloy Chakraborty","raw_affiliation_strings":["University of Illinois Urbana–Champaign, Urbana, IL, United States"],"affiliations":[{"raw_affiliation_string":"University of Illinois Urbana–Champaign, Urbana, IL, United States","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005079959","display_name":"Zichao Hu","orcid":"https://orcid.org/0009-0007-6433-8878"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zichao Hu","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, United States"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004302220","display_name":"Joydeep Biswas","orcid":"https://orcid.org/0000-0002-1211-1731"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joydeep Biswas","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, United States"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059066811","display_name":"Katherine Driggs-Campbell","orcid":"https://orcid.org/0000-0003-3760-9859"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine Driggs-Campbell","raw_affiliation_strings":["University of Illinois Urbana–Champaign, Urbana, IL, United States"],"affiliations":[{"raw_affiliation_string":"University of Illinois Urbana–Champaign, Urbana, IL, United States","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5052644162"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71991222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"1211","last_page":"1230"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2575705647468567,"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":0.2575705647468567,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.25523245334625244,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.07003887742757797,"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/robot","display_name":"Robot","score":0.6425666809082031},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5152683854103088},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5081093311309814},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4729423224925995},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4393725097179413},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3870701193809509}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6425666809082031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6099836230278015},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5152683854103088},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5081093311309814},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4729423224925995},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4393725097179413},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3870701193809509},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3745812177658081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35369014739990234},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3475625514984131},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33701854944229126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33385610580444336},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.3249416947364807},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.3189159631729126},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29294124245643616},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27977994084358215},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.270197331905365},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2633044421672821},{"id":"https://openalex.org/C530343408","wikidata":"https://www.wikidata.org/wiki/Q1413038","display_name":"Radio navigation","level":3,"score":0.2517428398132324}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3646588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3646588","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W2890001928","https://openalex.org/W4383109004","https://openalex.org/W4389665883","https://openalex.org/W2117211893","https://openalex.org/W2142943472","https://openalex.org/W3207033280","https://openalex.org/W3131623996","https://openalex.org/W3205400264","https://openalex.org/W4399618549","https://openalex.org/W2127617835","https://openalex.org/W2015571084","https://openalex.org/W192919555","https://openalex.org/W2167052694","https://openalex.org/W3166133078","https://openalex.org/W4310113038","https://openalex.org/W4396910085","https://openalex.org/W2963821308","https://openalex.org/W2082585576","https://openalex.org/W4394910043","https://openalex.org/W2963722165","https://openalex.org/W2962954724","https://openalex.org/W4200273815","https://openalex.org/W2967453881","https://openalex.org/W4285117889","https://openalex.org/W4362014203","https://openalex.org/W2963809389","https://openalex.org/W2964319688","https://openalex.org/W3005857605","https://openalex.org/W4313644253","https://openalex.org/W4383108497","https://openalex.org/W3090345358","https://openalex.org/W4405785250","https://openalex.org/W4313072750","https://openalex.org/W3202969251","https://openalex.org/W4293245975","https://openalex.org/W4402354006","https://openalex.org/W3144974485","https://openalex.org/W4388240421","https://openalex.org/W4387350805","https://openalex.org/W4385245566","https://openalex.org/W2766836212","https://openalex.org/W2991653934","https://openalex.org/W4285102538","https://openalex.org/W3200438282","https://openalex.org/W4399526601","https://openalex.org/W4368232707","https://openalex.org/W3129432647","https://openalex.org/W2603203130","https://openalex.org/W3134972302","https://openalex.org/W2963165299","https://openalex.org/W3205373118","https://openalex.org/W3207591725","https://openalex.org/W4285021310","https://openalex.org/W4386076400","https://openalex.org/W4401416954","https://openalex.org/W4384625456","https://openalex.org/W2049954099"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-01-15T23:16:33.117629","created_date":"2025-12-21T00:00:00"}