{"id":"https://openalex.org/W3200541475","doi":"https://doi.org/10.1109/tnnls.2021.3111051","title":"A Brain-Inspired Approach for Collision-Free Movement Planning in the Small Operational Space","display_name":"A Brain-Inspired Approach for Collision-Free Movement Planning in the Small Operational Space","publication_year":2021,"publication_date":"2021-09-14","ids":{"openalex":"https://openalex.org/W3200541475","doi":"https://doi.org/10.1109/tnnls.2021.3111051","mag":"3200541475","pmid":"https://pubmed.ncbi.nlm.nih.gov/34520379"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2021.3111051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3111051","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5101684094","display_name":"Dengpeng Xing","orcid":"https://orcid.org/0000-0002-8251-9118"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dengpeng Xing","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741564","display_name":"Jiale Li","orcid":"https://orcid.org/0000-0003-4993-398X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiale Li","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027787838","display_name":"Tielin Zhang","orcid":"https://orcid.org/0000-0002-5111-9891"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tielin Zhang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108642431","display_name":"Bo Xu","orcid":"https://orcid.org/0000-0002-1111-1529"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Xu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101684094"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879","https://openalex.org/I4210100255","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":1.012,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.75959019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"33","issue":"5","first_page":"2094","last_page":"2105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9962000250816345,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/movement","display_name":"Movement (music)","score":0.6467108130455017},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5480610728263855},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.540917694568634},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5011844635009766},{"id":"https://openalex.org/keywords/free-movement","display_name":"Free movement","score":0.4312145709991455},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.2000584602355957},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1828904151916504},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17652028799057007},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.08924585580825806}],"concepts":[{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.6467108130455017},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5480610728263855},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.540917694568634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5011844635009766},{"id":"https://openalex.org/C2993315049","wikidata":"https://www.wikidata.org/wiki/Q5500260","display_name":"Free movement","level":2,"score":0.4312145709991455},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.2000584602355957},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1828904151916504},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17652028799057007},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.08924585580825806},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C155202549","wikidata":"https://www.wikidata.org/wiki/Q178803","display_name":"International trade","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D001921","descriptor_name":"Brain","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001921","descriptor_name":"Brain","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001921","descriptor_name":"Brain","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013569","descriptor_name":"Synapses","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013569","descriptor_name":"Synapses","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013569","descriptor_name":"Synapses","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2021.3111051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3111051","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:34520379","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34520379","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G4102930997","display_name":null,"funder_award_id":"62073324","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7809972415","display_name":null,"funder_award_id":"XDA27010404","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1996851161","https://openalex.org/W2012994941","https://openalex.org/W2022235653","https://openalex.org/W2053628003","https://openalex.org/W2068566049","https://openalex.org/W2070851476","https://openalex.org/W2092215165","https://openalex.org/W2093072166","https://openalex.org/W2103179919","https://openalex.org/W2135171759","https://openalex.org/W2171738703","https://openalex.org/W2242021551","https://openalex.org/W2288756695","https://openalex.org/W2593865424","https://openalex.org/W2621826044","https://openalex.org/W2734764848","https://openalex.org/W2735562682","https://openalex.org/W2779025322","https://openalex.org/W2807894615","https://openalex.org/W2915087570","https://openalex.org/W2951078071","https://openalex.org/W2968865419","https://openalex.org/W2969020366","https://openalex.org/W2972587590","https://openalex.org/W2980991344","https://openalex.org/W2981657570","https://openalex.org/W2990793844","https://openalex.org/W3006868075"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2280130644","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W3113932901","https://openalex.org/W4396701345","https://openalex.org/W650625605"],"abstract_inverted_index":{"In":[0],"a":[1,22,118,143],"small":[2,44],"operational":[3,45],"space,":[4],"e.g.,":[5],"mesoscale":[6],"or":[7],"microscale,":[8],"we":[9,59,141],"need":[10],"to":[11,30,51,65,78,104,123,132,168,193,213],"control":[12],"movements":[13,125],"carefully":[14],"because":[15],"of":[16,35,107,153],"fragile":[17],"objects.":[18],"This":[19],"article":[20],"proposes":[21],"novel":[23],"structure":[24],"based":[25,112],"on":[26,113],"spiking":[27],"neural":[28],"networks":[29],"imitate":[31],"the":[32,43,56,61,74,80,88,94,108,114,127,147,151,154,174,183,194,198,225],"joint":[33],"function":[34],"multiple":[36,70,100],"brain":[37],"regions":[38],"in":[39,42,87,173,197,216],"visual":[40,63,76],"guiding":[41],"space":[46],"and":[47,73,117,129,140,191,209,221],"offers":[48],"two":[49,98,160],"channels":[50],"achieve":[52],"collision-free":[53],"movements.":[54],"For":[55],"state":[57,102,166],"sensation,":[58],"simulate":[60],"primary":[62],"cortex":[64,77,96],"directly":[66],"extract":[67],"features":[68],"from":[69,97,165],"input":[71],"images":[72],"high-level":[75],"obtain":[79],"object":[81],"distance,":[82],"which":[83,186],"is":[84,182],"indirectly":[85],"measurable,":[86],"Cartesian":[89,199],"coordinates.":[90,200],"Our":[91],"approach":[92],"emulates":[93],"prefrontal":[95],"aspects:":[99],"liquid":[101],"machines":[103],"predict":[105],"distances":[106],"next":[109],"several":[110],"steps":[111],"preceding":[115],"trajectory":[116],"block-based":[119],"excitation-inhibition":[120],"feedforward":[121],"network":[122,145],"plan":[124],"considering":[126],"target":[128],"prediction.":[130],"Responding":[131],"\"too":[133],"close\"":[134],"states":[135],"needs":[136],"rich":[137],"temporal":[138],"information,":[139],"leverage":[142],"cerebellar":[144],"for":[146,206],"subconscious":[148],"reaction.":[149],"From":[150],"viewpoint":[152],"inner":[155],"pathway,":[156],"they":[157],"also":[158],"form":[159],"channels.":[161],"One":[162],"channel":[163],"starts":[164],"extraction":[167],"attraction":[169],"movement":[170],"planning,":[171],"both":[172],"camera":[175],"coordinates,":[176],"behaving":[177],"visual-servo":[178],"control.":[179],"The":[180],"other":[181],"collision-avoidance":[184],"channel,":[185],"calculates":[187],"distances,":[188],"predicts":[189],"trajectories,":[190],"reacts":[192],"repulsion,":[195],"all":[196],"We":[201],"provide":[202],"appropriate":[203],"supervised":[204],"signals":[205],"coarse":[207],"training":[208],"apply":[210],"reinforcement":[211],"learning":[212],"modify":[214],"synapses":[215],"accordance":[217],"with":[218],"reality.":[219],"Simulation":[220],"experiment":[222],"results":[223],"validate":[224],"proposed":[226],"method.":[227]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
