{"id":"https://openalex.org/W4395069507","doi":"https://doi.org/10.1109/tiv.2024.3393068","title":"Navigating Partially Unknown Environments: A Weakly Supervised Learning Approach to Path Planning","display_name":"Navigating Partially Unknown Environments: A Weakly Supervised Learning Approach to Path Planning","publication_year":2024,"publication_date":"2024-04-24","ids":{"openalex":"https://openalex.org/W4395069507","doi":"https://doi.org/10.1109/tiv.2024.3393068"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3393068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3393068","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5068807587","display_name":"L. Frank Huang","orcid":"https://orcid.org/0000-0003-0081-5720"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liqun Huang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0081-5720","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Runqi Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Aerospace, Transport and Manufacturing, Cranfield University, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4083-8863","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Aerospace, Transport and Manufacturing, Cranfield University, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056539856","display_name":"Kaiyuan Chen","orcid":"https://orcid.org/0000-0001-5165-0802"},"institutions":[{"id":"https://openalex.org/I4210126646","display_name":"Vanke (China)","ror":"https://ror.org/0329dzd04","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126646"]},{"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":"Kaiyuan Chen","raw_affiliation_strings":["Institute of Healthy China, Tsinghua University, Beijing, China","Vanke School of Public Health, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5165-0802","affiliations":[{"raw_affiliation_string":"Institute of Healthy China, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Vanke School of Public Health, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4210126646"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100619396","display_name":"Jinning Zhang","orcid":"https://orcid.org/0000-0002-6188-4108"},"institutions":[{"id":"https://openalex.org/I153648349","display_name":"University of Leicester","ror":"https://ror.org/04h699437","country_code":"GB","type":"education","lineage":["https://openalex.org/I153648349"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jinning Zhang","raw_affiliation_strings":["School of Engineering, University of Leicester, Leicester, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6188-4108","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Leicester, Leicester, U.K","institution_ids":["https://openalex.org/I153648349"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070349528","display_name":"Senchun Chai","orcid":"https://orcid.org/0000-0003-1910-1795"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senchun Chai","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1910-1795","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068807587"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04431152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"11","first_page":"7084","last_page":"7096"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9685999751091003,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9685999751091003,"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/path","display_name":"Path (computing)","score":0.5609226226806641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414012670516968},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5238423347473145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4677087664604187},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3261609673500061},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09787485003471375}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5609226226806641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414012670516968},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5238423347473145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4677087664604187},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3261609673500061},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09787485003471375},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2024.3393068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3393068","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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":43,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1994488211","https://openalex.org/W2000359213","https://openalex.org/W2085625911","https://openalex.org/W2101043416","https://openalex.org/W2128990851","https://openalex.org/W2192308205","https://openalex.org/W2289708887","https://openalex.org/W2427601938","https://openalex.org/W2688378291","https://openalex.org/W2746553466","https://openalex.org/W2754000639","https://openalex.org/W2902731060","https://openalex.org/W2912259603","https://openalex.org/W2942307437","https://openalex.org/W2962758608","https://openalex.org/W2963439114","https://openalex.org/W2965046707","https://openalex.org/W3000582759","https://openalex.org/W3010163975","https://openalex.org/W3011646207","https://openalex.org/W3034726893","https://openalex.org/W3094402048","https://openalex.org/W3100366369","https://openalex.org/W3134878008","https://openalex.org/W3146366485","https://openalex.org/W3159846780","https://openalex.org/W3209459638","https://openalex.org/W4212795265","https://openalex.org/W4214735187","https://openalex.org/W4286370041","https://openalex.org/W4287889335","https://openalex.org/W4312084118","https://openalex.org/W4312688242","https://openalex.org/W4323338304","https://openalex.org/W6637967152","https://openalex.org/W6733118196","https://openalex.org/W6750469568"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W3107602296","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"In":[0,36,81],"fire":[1],"rescue":[2],"missions,":[3],"the":[4,68,127,148,166,173,200,203,211],"critical":[5],"research":[6],"concern":[7],"revolves":[8],"around":[9],"enabling":[10],"autonomous":[11],"path":[12,30,40,109,113,154,175,187],"planning":[13,31,114],"for":[14,106],"mobile":[15],"robots":[16],"to":[17,22,38,49,65,89,184,198],"quickly":[18],"and":[19,42,122,134,206,209],"safely":[20],"navigate":[21],"target":[23],"points.":[24],"This":[25],"paper":[26],"focuses":[27],"on":[28,53,57],"sampling-based":[29,54],"methods":[32],"under":[33],"weak":[34],"supervision.":[35],"order":[37],"enhance":[39],"quality":[41],"computational":[43],"speed,":[44],"we":[45,101,140,179],"employ":[46],"deep":[47,99,181],"learning":[48,183],"perform":[50],"non-uniform":[51,71,91,107],"sampling":[52,72,92,108],"methods,":[55],"focusing":[56],"regions":[58,73],"where":[59],"optimal":[60],"paths":[61],"are":[62,196],"more":[63],"likely":[64],"exist.":[66],"Specifically,":[67],"generation":[69,130,149],"of":[70,150,169,202,213],"is":[74,87,131],"regarded":[75],"as":[76,155],"a":[77,142],"semantic":[78,161],"segmentation":[79,162],"problem.":[80],"this":[82,138],"context,":[83],"diverse":[84],"map":[85],"information":[86],"utilized":[88],"predict":[90],"regions.":[93],"Inspired":[94],"by":[95],"attention":[96],"mechanisms":[97],"in":[98,160,176,189],"learning,":[100],"propose":[102,141],"an":[103],"attention-guided":[104,204],"model":[105,120,124,205],"planning.":[110],"The":[111],"learning-driven":[112],"process":[115],"comprises":[116],"offline":[117,128],"dataset":[118,129],"generation,":[119],"training,":[121],"online":[123],"prediction.":[125],"However,":[126],"often":[132],"time-consuming":[133],"resource-intensive.":[135],"To":[136],"address":[137],"challenge,":[139],"weakly":[143,216],"supervised":[144,217],"strategy,":[145],"which":[146],"necessitates":[147],"only":[151],"one":[152],"single":[153],"ground":[156],"truth":[157],"per":[158],"scenario":[159],"training.":[163],"Furthermore,":[164],"considering":[165],"potential":[167],"existence":[168],"unknown":[170,190],"obstacles":[171],"along":[172],"reference":[174],"real-world":[177],"settings,":[178],"leverage":[180],"reinforcement":[182],"ensure":[185],"collision-free":[186,207],"tracking":[188],"environments.":[191],"Finally,":[192],"extensive":[193],"experimental":[194],"simulations":[195],"conducted":[197],"verify":[199],"performance":[201],"tracking,":[208],"demonstrate":[210],"superiority":[212],"our":[214],"proposed":[215],"strategy.":[218]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}