{"id":"https://openalex.org/W4387010759","doi":"https://doi.org/10.1109/tvt.2023.3278097","title":"Neuro-Planner: A 3D Visual Navigation Method for MAV With Depth Camera Based on Neuromorphic Reinforcement Learning","display_name":"Neuro-Planner: A 3D Visual Navigation Method for MAV With Depth Camera Based on Neuromorphic Reinforcement Learning","publication_year":2023,"publication_date":"2023-09-25","ids":{"openalex":"https://openalex.org/W4387010759","doi":"https://doi.org/10.1109/tvt.2023.3278097"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3278097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3278097","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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"],"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/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":"Delei Kong","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037817267","display_name":"Kuanxu Hou","orcid":"https://orcid.org/0000-0001-5009-8171"},"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":"Kuanxu Hou","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"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/A5091584780","display_name":"Xinjie Huang","orcid":"https://orcid.org/0000-0002-9367-2476"},"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":"Xinjie Huang","raw_affiliation_strings":["Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China"],"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/A5100613968","display_name":"Hao Zhuang","orcid":"https://orcid.org/0000-0002-3731-7162"},"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":"Hao Zhuang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"College of Information 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"],"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":6,"corresponding_author_ids":["https://openalex.org/A5101993413"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":9.0471,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.97202383,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"72","issue":"10","first_page":"12697","last_page":"12712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.8916029930114746},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8412243127822876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7133376598358154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6205778121948242},{"id":"https://openalex.org/keywords/spiking-neural-network","display_name":"Spiking neural network","score":0.6005054712295532},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.49982118606567383},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49421098828315735},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4720626175403595},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3486548960208893}],"concepts":[{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.8916029930114746},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8412243127822876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7133376598358154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6205778121948242},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.6005054712295532},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.49982118606567383},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49421098828315735},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4720626175403595},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3486548960208893},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2023.3278097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3278097","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"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/G8544294156","display_name":null,"funder_award_id":"U20A20197","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1980218901","https://openalex.org/W1980969546","https://openalex.org/W2006370340","https://openalex.org/W2145339207","https://openalex.org/W2150355110","https://openalex.org/W2201581102","https://openalex.org/W2296073425","https://openalex.org/W2522546097","https://openalex.org/W2562788852","https://openalex.org/W2621826044","https://openalex.org/W2732319713","https://openalex.org/W2732510496","https://openalex.org/W2769720482","https://openalex.org/W2771926486","https://openalex.org/W2782715402","https://openalex.org/W2891530223","https://openalex.org/W2903506349","https://openalex.org/W2904246096","https://openalex.org/W2907916537","https://openalex.org/W2962887844","https://openalex.org/W2962917939","https://openalex.org/W2963019567","https://openalex.org/W2963311874","https://openalex.org/W2963428623","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2979254020","https://openalex.org/W2990793844","https://openalex.org/W3006499227","https://openalex.org/W3010740942","https://openalex.org/W3015238808","https://openalex.org/W3020965190","https://openalex.org/W3040838455","https://openalex.org/W3042429340","https://openalex.org/W3046996989","https://openalex.org/W3089695338","https://openalex.org/W3091703254","https://openalex.org/W3093822448","https://openalex.org/W3094398894","https://openalex.org/W3095029720","https://openalex.org/W3099629894","https://openalex.org/W3114626444","https://openalex.org/W3118570208","https://openalex.org/W3120006980","https://openalex.org/W3123742938","https://openalex.org/W3153247706","https://openalex.org/W3164005523","https://openalex.org/W3180325058","https://openalex.org/W3198804470","https://openalex.org/W3202883604","https://openalex.org/W4205419872","https://openalex.org/W4210530701","https://openalex.org/W4210643767","https://openalex.org/W4225886149","https://openalex.org/W4226429284","https://openalex.org/W4229007520","https://openalex.org/W4282049157","https://openalex.org/W4297795161","https://openalex.org/W4298018319","https://openalex.org/W4300799055","https://openalex.org/W4366503954","https://openalex.org/W6684921986","https://openalex.org/W6687681856","https://openalex.org/W6692846177","https://openalex.org/W6731334075","https://openalex.org/W6736021936","https://openalex.org/W6740402285","https://openalex.org/W6740801417","https://openalex.org/W6741302124","https://openalex.org/W6754595668","https://openalex.org/W6757592117","https://openalex.org/W6782158118"],"related_works":["https://openalex.org/W3089892344","https://openalex.org/W4313442939","https://openalex.org/W4386227293","https://openalex.org/W4372267706","https://openalex.org/W4288055417","https://openalex.org/W4287758233","https://openalex.org/W2960220682","https://openalex.org/W4205804651","https://openalex.org/W3136467750","https://openalex.org/W2885510266"],"abstract_inverted_index":{"Traditional":[0],"visual":[1,72,196],"navigation":[2,73,153,197],"methods":[3,25],"of":[4,40,127,156,166,178],"micro":[5],"aerial":[6],"vehicle":[7],"(MAV)":[8],"usually":[9],"calculate":[10],"a":[11,20,51,80],"passable":[12],"path":[13],"that":[14,57,165],"satisfies":[15],"the":[16,46,116,125,128,147,167,171,176,183],"constraints":[17],"depending":[18],"on":[19,85],"prior":[21],"map.":[22],"However,":[23],"these":[24],"have":[26],"issues":[27],"such":[28],"as":[29,115],"high":[30],"demand":[31],"for":[32,94,119,193],"computing":[33,188],"resources":[34],"and":[35,63,90,106,144,161,189],"poor":[36],"robustness":[37],"in":[38,146,170],"face":[39],"unfamiliar":[41],"environments.":[42,174],"Aiming":[43],"to":[44,68],"solve":[45],"above":[47],"problems,":[48],"we":[49,78,131],"propose":[50],"neuromorphic":[52,187],"reinforcement":[53,65,191],"learning":[54,66,192],"method":[55],"(Neuro-Planner)":[56],"combines":[58],"spiking":[59,81],"neural":[60],"network":[61,83,121],"(SNN)":[62],"deep":[64,101,190],"(DRL)":[67],"realize":[69],"MAV":[70,194],"3D":[71,195],"with":[74,137],"depth":[75],"camera.":[76],"Specifically,":[77],"design":[79],"actor":[82],"based":[84],"two-state":[86],"LIF":[87],"(TS-LIF)":[88],"neurons":[89],"its":[91],"encoding-decoding":[92],"schemes":[93],"efficient":[95],"inference.":[96],"Then":[97],"our":[98,157,179],"improved":[99],"hybrid":[100],"deterministic":[102],"policy":[103],"gradient":[104],"(HDDPG)":[105],"TS-LIF-based":[107],"spatio-temporal":[108],"back":[109],"propagation":[110],"(STBP)":[111],"algorithms":[112],"are":[113],"used":[114],"training":[117,140],"framework":[118],"actor-critic":[120],"architecture.":[122],"To":[123,175],"verify":[124],"effectiveness":[126],"proposed":[129],"Neuro-Planner,":[130],"carry":[132],"out":[133],"detailed":[134],"comparison":[135],"experiments":[136],"various":[138],"SNN":[139],"algorithm":[141],"(STBP,":[142],"BPTT":[143],"SLAYER)":[145],"software-in-the-loop":[148],"(SITL)":[149],"simulation":[150],"framework.":[151],"The":[152],"success":[154],"rate":[155],"HDDPG-STBP":[158],"is":[159,182],"4.3%":[160],"5.3%":[162],"higher":[163],"than":[164],"original":[168],"DDPG":[169],"two":[172],"evaluation":[173],"best":[177],"knowledge,":[180],"this":[181],"first":[184],"work":[185],"combining":[186],"task.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}