{"id":"https://openalex.org/W7154466710","doi":"https://doi.org/10.1109/upinlbs68186.2025.11468393","title":"Autonomous Navigation for Multiple Wheeled Robots Based on Lightweight LiDAR Mapping and Dynamic Priority","display_name":"Autonomous Navigation for Multiple Wheeled Robots Based on Lightweight LiDAR Mapping and Dynamic Priority","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W7154466710","doi":"https://doi.org/10.1109/upinlbs68186.2025.11468393"},"language":null,"primary_location":{"id":"doi:10.1109/upinlbs68186.2025.11468393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs68186.2025.11468393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Ubiquitous Positioning, Indoor Navigation and Location-Based Services Conference (UPINLBS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5025843110","display_name":"Wenlei Fan","orcid":"https://orcid.org/0000-0003-0092-0512"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlei Fan","raw_affiliation_strings":["Wuhan University,LIESMARS,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,LIESMARS,Wuhan,China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080358463","display_name":"Q P Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiyu Zhang","raw_affiliation_strings":["Wuhan University,LIESMARS,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,LIESMARS,Wuhan,China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011966833","display_name":"Zhenqi Zheng","orcid":"https://orcid.org/0000-0001-9126-3620"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenqi Zheng","raw_affiliation_strings":["Wuhan University,LIESMARS,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,LIESMARS,Wuhan,China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5133658164","display_name":"You Li","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"You Li","raw_affiliation_strings":["Wuhan University,LIESMARS,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,LIESMARS,Wuhan,China","institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.78324305,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.251800000667572,"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":0.251800000667572,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2142000049352646,"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/T13382","display_name":"Robotics and Automated Systems","score":0.035100001841783524,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.607200026512146},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.435699999332428},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.40790000557899475},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.299699991941452},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.28459998965263367},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.2784999907016754}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.607200026512146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5882999897003174},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.435699999332428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42309999465942383},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.40790000557899475},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38839998841285706},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34139999747276306},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.31520000100135803},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2784999907016754},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26170000433921814},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25609999895095825},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2556999921798706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/upinlbs68186.2025.11468393","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs68186.2025.11468393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Ubiquitous Positioning, Indoor Navigation and Location-Based Services Conference (UPINLBS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.45330825448036194,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multi-robot":[0],"collaborative":[1,192],"planning":[2,58,179],"and":[3,14,23,31,44,70,151,155,167,190,210,217,253,264,271,279],"autonomous":[4],"navigation":[5],"are":[6],"widely":[7],"applied":[8],"in":[9,21,29,81,212,266],"unmanned":[10],"mapping,":[11],"warehouse":[12],"logistics,":[13],"emergency":[15],"rescue.":[16],"However,":[17],"they":[18],"face":[19],"challenges":[20],"safety":[22],"efficiency":[24],"within":[25],"complex":[26],"environments,":[27],"particularly":[28],"obstacle-dense":[30],"highly":[32],"dynamic":[33,62,136,243],"scenarios,":[34],"where":[35],"issues":[36],"such":[37,206],"as":[38,207],"trajectory":[39,113],"oscillation,":[40],"heavy":[41],"communication":[42,159],"loads,":[43],"insufficient":[45],"coordination":[46],"often":[47],"arise.":[48],"To":[49],"address":[50],"these":[51],"challenges,":[52],"this":[53,133,182],"paper":[54],"proposes":[55],"a":[56,85,135,221],"distributed":[57],"framework":[59],"based":[60,93,180],"on":[61,94,181],"priority.":[63],"The":[64],"method":[65,92,202],"builds":[66],"upon":[67],"lightweight":[68,157,200],"mapping":[69,201],"single-robot":[71],"planning.":[72,228],"First,":[73],"to":[74],"overcome":[75],"the":[76,142,198,236,241],"limitations":[77],"of":[78,214],"2D":[79,87],"SLAM":[80],"capturing":[82],"vertical":[83],"information,":[84,184],"novel":[86],"occupancy":[88],"grid":[89],"map":[90],"construction":[91],"real-time":[95],"3D":[96],"point":[97],"cloud":[98],"projection":[99],"is":[100,118,139],"proposed,":[101],"which":[102,145],"reduces":[103,246],"computational":[104],"load":[105],"while":[106],"enhancing":[107],"environmental":[108,149,224],"representation":[109,225],"completeness.":[110],"Second,":[111],"feasible":[112],"generation":[114],"for":[115,160,226],"individual":[116],"robots":[117,172],"achieved":[119],"through":[120],"integrating":[121],"Dijkstra":[122],"global":[123],"search":[124],"with":[125,230],"Timed":[126],"Elastic":[127],"Band":[128],"(TEB)":[129],"local":[130,177],"optimization.":[131],"On":[132],"basis,":[134],"priority":[137,161,183,234,244],"mechanism":[138],"introduced":[140],"at":[141],"multi-robot":[143,227],"level,":[144],"considers":[146],"conflict":[147],"intensity,":[148],"congestion,":[150],"remaining":[152],"task":[153,254],"distance,":[154],"employs":[156],"UDP":[158],"status":[162],"sharing,":[163],"minimizing":[164],"data":[165],"throughput":[166],"supporting":[168],"responsive":[169],"coordination.":[170],"Individual":[171],"then":[173],"dynamically":[174],"adjust":[175],"their":[176],"TEB":[178],"enabling":[185],"differentiated":[186],"obstacle":[187,215],"avoidance":[188],"strategies":[189],"maintaining":[191],"order.":[193],"Experimental":[194],"results":[195,238],"show":[196],"that":[197,240],"proposed":[199,242],"outperforms":[203],"representative":[204],"approaches":[205],"Gmapping,":[208],"Karto,":[209],"Cartographer":[211],"terms":[213],"completeness":[216],"geometric":[218],"fidelity,":[219],"providing":[220],"more":[222],"reliable":[223],"Compared":[229],"baseline":[231],"methods":[232],"without":[233],"mechanisms,":[235],"simulation":[237],"demonstrate":[239],"approach":[245],"average":[247],"path":[248],"length":[249],"by":[250,257],"approximately":[251],"15.1%":[252],"completion":[255],"time":[256],"about":[258],"12.9%.":[259],"This":[260],"effectively":[261],"mitigates":[262],"deadlocks":[263],"detours":[265],"scenarios":[267],"like":[268],"head-on":[269],"encounters":[270],"grid-like":[272],"intersections,":[273],"thereby":[274],"significantly":[275],"lowering":[276],"collision":[277],"risks":[278],"improving":[280],"overall":[281],"efficiency.":[282]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-04-16T00:00:00"}