{"id":"https://openalex.org/W4416965770","doi":"https://doi.org/10.1109/tits.2025.3635237","title":"KITNet: A Region-Attention-Activated Trajectory Predictor With Hierarchical Graph Neural Network in Dynamic-Mutant Multi-Agent System","display_name":"KITNet: A Region-Attention-Activated Trajectory Predictor With Hierarchical Graph Neural Network in Dynamic-Mutant Multi-Agent System","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W4416965770","doi":"https://doi.org/10.1109/tits.2025.3635237"},"language":null,"primary_location":{"id":"doi:10.1109/tits.2025.3635237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3635237","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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":"https://openalex.org/A5101777562","display_name":"Zeyu Zhou","orcid":"https://orcid.org/0009-0001-5493-9019"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zeyu Zhou","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi’an, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shanqing Wang","orcid":"https://orcid.org/0009-0004-5850-1470"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanqing Wang","raw_affiliation_strings":["School of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001107160","display_name":"Albert S. Huang","orcid":"https://orcid.org/0009-0003-8670-6943"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anmin Huang","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi’an, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112045626","display_name":"Jin Lou","orcid":"https://orcid.org/0009-0009-3091-8270"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Lou","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi’an, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073586073","display_name":"Tang We","orcid":"https://orcid.org/0000-0002-7381-5046"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Tang","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi’an, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056734737","display_name":"David Navarro-Alarc\u00f3n","orcid":"https://orcid.org/0000-0002-3426-6638"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"David Navarro-Alarcon","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101777562"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":1.9497,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87646863,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"27","issue":"2","first_page":"1861","last_page":"1877"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9498000144958496,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9498000144958496,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10524","display_name":"Traffic control and management","score":0.013500000350177288,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.004000000189989805,"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/trajectory","display_name":"Trajectory","score":0.6996999979019165},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5184999704360962},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4496999979019165},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.436599999666214},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.39899998903274536},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.39579999446868896},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.3889000117778778},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3840999901294708}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6996999979019165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6531999707221985},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5184999704360962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5081999897956848},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4496999979019165},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.436599999666214},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.421999990940094},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.39579999446868896},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.3889000117778778},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3840999901294708},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3610000014305115},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3305000066757202},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.33009999990463257},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.28290000557899475},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2825999855995178},{"id":"https://openalex.org/C45804977","wikidata":"https://www.wikidata.org/wiki/Q7239673","display_name":"Predictive modelling","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3635237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3635237","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1060341270","display_name":null,"funder_award_id":"2024CY2-GJHX-91","funder_id":"https://openalex.org/F4320334010","funder_display_name":"Key Research and Development Program of Ningxia"},{"id":"https://openalex.org/G7923170701","display_name":null,"funder_award_id":"2024GX-ZDCYL-02-06","funder_id":"https://openalex.org/F4320334010","funder_display_name":"Key Research and Development Program of Ningxia"}],"funders":[{"id":"https://openalex.org/F4320334010","display_name":"Key Research and Development Program of Ningxia","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safe":[0],"and":[1,17,38,58,116,152,170,194,218,224,231],"efficient":[2],"operation":[3],"of":[4,24,118,178],"Autonomous":[5],"Delivery":[6],"Vehicles":[7],"(ADVs)":[8],"in":[9,64,83,228],"dynamic":[10,86],"multi-agent":[11],"environments,":[12],"such":[13,84],"as":[14,204],"university":[15],"campuses":[16],"industrial":[18],"parks,":[19],"necessitates":[20],"accurate":[21],"trajectory":[22,75,127,196,208],"prediction":[23,76,117,128,163],"interacting":[25],"agents.":[26,48],"Conventional":[27],"autonomous":[28,211],"navigation":[29,217],"systems,":[30,213],"however,":[31],"rely":[32],"heavily":[33],"on":[34,108,125],"reactive":[35],"real-time":[36],"perception":[37,223],"often":[39],"fail":[40],"to":[41,53,97,131],"predict":[42],"complex":[43,229],"spatio-temporal":[44,113],"interactions":[45],"among":[46],"heterogeneous":[47],"This":[49,67],"limitation":[50],"frequently":[51],"leads":[52],"suboptimal":[54],"motion":[55,184],"planning":[56,185],"outcomes":[57],"operational":[59],"inefficiencies,":[60],"including":[61,142],"deadlock":[62],"situations,":[63],"congested":[65],"scenarios.":[66],"paper":[68],"introduces":[69],"Knowledge-Interaction-Temporal":[70],"Network":[71,94],"(KITNet),":[72],"a":[73,90,103,205],"novel":[74,104],"framework":[77],"specifically":[78],"designed":[79],"for":[80,111,189,198,210],"ADVs":[81],"operating":[82],"complex,":[85],"settings.":[87],"KITNet":[88,124,203],"employs":[89],"hierarchical":[91],"Graph":[92],"Neural":[93],"(GNN)":[95],"architecture":[96],"model":[98],"intricate":[99],"interaction":[100],"dynamics,":[101],"incorporating":[102],"attention":[105],"mechanism":[106],"based":[107],"set":[109],"theory":[110],"enhanced":[112],"feature":[114],"extraction":[115],"diverse":[119],"behavior":[120,135],"patterns.":[121],"We":[122],"evaluate":[123],"several":[126],"benchmarks":[129],"according":[130],"the":[132,138,143,147,153,176,220],"different":[133],"tailored":[134],"modes":[136],"under":[137],"defined":[139],"mode":[140],"space,":[141],"ETH/UCY":[144],"pedestrian":[145],"dataset,":[146,151],"NGSIM":[148],"highway":[149],"driving":[150,157],"Argoverse":[154],"2":[155],"urban":[156,230],"dataset.":[158],"Our":[159],"results":[160],"demonstrate":[161],"state-of-the-art":[162],"accuracy,":[164],"outperforming":[165],"or":[166],"matching":[167],"existing":[168],"graph-based":[169],"recurrent":[171],"approaches.":[172],"Furthermore,":[173],"we":[174],"discuss":[175],"integration":[177],"KITNet\u2019s":[179],"predictive":[180,216],"outputs":[181],"into":[182],"local":[183],"modules,":[186],"showing":[187],"potential":[188],"significantly":[190],"reducing":[191],"conflict":[192],"scenarios":[193],"optimizing":[195],"execution":[197],"ADVs.":[199],"These":[200],"findings":[201],"establish":[202],"highly":[206],"effective":[207],"predictor":[209],"transport":[212],"critically":[214],"advancing":[215],"bridging":[219],"gap":[221],"between":[222],"robust":[225],"intelligent":[226],"decision-making":[227],"campus":[232],"environments.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-12-03T00:00:00"}