{"id":"https://openalex.org/W7106488204","doi":"https://doi.org/10.1609/aaaiss.v7i1.36948","title":"LiMPNet: Lightweight Multi-sensor Perception and DRL Navigation for Tiny Drones in Mapless Environments","display_name":"LiMPNet: Lightweight Multi-sensor Perception and DRL Navigation for Tiny Drones in Mapless Environments","publication_year":2025,"publication_date":"2025-11-23","ids":{"openalex":"https://openalex.org/W7106488204","doi":"https://doi.org/10.1609/aaaiss.v7i1.36948"},"language":null,"primary_location":{"id":"doi:10.1609/aaaiss.v7i1.36948","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaaiss.v7i1.36948","pdf_url":"https://ojs.aaai.org/index.php/AAAI-SS/article/download/36948/39086","source":{"id":"https://openalex.org/S4389157828","display_name":"Proceedings of the AAAI Symposium Series","issn_l":"2994-4317","issn":["2994-4317"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Symposium Series","raw_type":"journal-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/AAAI-SS/article/download/36948/39086","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Omer Kurkutlu","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omer Kurkutlu","raw_affiliation_strings":["University of Illinois Chicago"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"last","author":{"id":null,"display_name":"Arman Roohi","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arman Roohi","raw_affiliation_strings":["University of Illinois Chicago"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago","institution_ids":["https://openalex.org/I39422238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39422238"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.56219212,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"1","first_page":"663","last_page":"669"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.38440001010894775,"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/T11133","display_name":"UAV Applications and Optimization","score":0.38440001010894775,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2282000035047531,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.18960000574588776,"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/drone","display_name":"Drone","score":0.9034000039100647},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6624000072479248},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5799999833106995},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.47850000858306885},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.4684999883174896},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3813000023365021},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.37880000472068787}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9034000039100647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7628999948501587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7174000144004822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6784999966621399},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6624000072479248},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5799999833106995},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.47850000858306885},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.4684999883174896},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3813000023365021},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.36309999227523804},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.34689998626708984},{"id":"https://openalex.org/C78201319","wikidata":"https://www.wikidata.org/wiki/Q685727","display_name":"Grayscale","level":3,"score":0.3402000069618225},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2897000014781952},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27709999680519104},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.26010000705718994},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2581000030040741}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaaiss.v7i1.36948","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaaiss.v7i1.36948","pdf_url":"https://ojs.aaai.org/index.php/AAAI-SS/article/download/36948/39086","source":{"id":"https://openalex.org/S4389157828","display_name":"Proceedings of the AAAI Symposium Series","issn_l":"2994-4317","issn":["2994-4317"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Symposium Series","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaaiss.v7i1.36948","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaaiss.v7i1.36948","pdf_url":"https://ojs.aaai.org/index.php/AAAI-SS/article/download/36948/39086","source":{"id":"https://openalex.org/S4389157828","display_name":"Proceedings of the AAAI Symposium Series","issn_l":"2994-4317","issn":["2994-4317"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Symposium Series","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1679974410","display_name":"CAREER: Elastic Intermittent Computation Enabling Batteryless Edge Intelligence","funder_award_id":"2504839","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G1985843119","display_name":"CSR: Small: Cross-Layer Solutions Enabling Instant Computing for Edge Intelligence Devices","funder_award_id":"2448133","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7106488204.pdf","grobid_xml":"https://content.openalex.org/works/W7106488204.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"tiny":[1],"drones":[2],"face":[3],"significant":[4],"challenges":[5],"in":[6,42,99,126],"navigation":[7,25,137],"due":[8],"to":[9,37,85],"strict":[10],"constraints":[11],"on":[12],"size,":[13],"weight,":[14],"power,":[15],"and":[16,56,68,81,92,116,143],"onboard":[17],"computational":[18],"capacity.":[19],"This":[20],"paper":[21],"presents":[22],"a":[23,53,57,60,79,102,110,117],"lightweight":[24],"framework":[26],"that":[27,134],"integrates":[28],"basic":[29],"multi-sensor":[30],"perception":[31],"with":[32,52],"deep":[33],"reinforcement":[34],"learning":[35],"(DRL)":[36],"enable":[38],"safe,":[39],"mapless":[40],"flight":[41],"cluttered":[43,119],"environments.":[44],"We":[45],"employ":[46],"the":[47,107,124],"Crazyflie":[48],"2.1":[49],"nano-drone,":[50],"equipped":[51],"grayscale":[54],"camera":[55],"multi-ranger":[58],"deck,":[59],"laser-based":[61],"distance":[62],"sensor,":[63],"for":[64,149],"real-time":[65],"obstacle":[66,104],"detection":[67],"avoidance.":[69],"A":[70],"Proximal":[71],"Policy":[72],"Optimization":[73],"(PPO)":[74],"agent":[75],"is":[76,97,138],"trained":[77],"within":[78],"ROS":[80],"Gazebo":[82],"simulation":[83],"environment":[84],"generate":[86],"collision-free":[87],"trajectories":[88],"using":[89,140],"fused":[90],"visual":[91],"range":[93],"data.":[94],"The":[95],"system":[96],"evaluated":[98],"two":[100],"environments:":[101],"simple":[103],"field,":[105],"where":[106,121],"drone":[108],"achieves":[109],"100%":[111],"success":[112],"rate":[113],"(112/112":[114],"episodes),":[115],"densely":[118],"map,":[120],"it":[122,147],"reaches":[123],"target":[125],"35%":[127],"of":[128],"trials":[129],"(7/20).":[130],"These":[131],"results":[132],"demonstrate":[133],"effective":[135],"autonomous":[136],"achievable":[139],"minimal":[141],"sensing":[142],"low-computation":[144],"models,":[145],"making":[146],"well-suited":[148],"resource-constrained":[150],"aerial":[151],"platforms.":[152]},"counts_by_year":[],"updated_date":"2026-08-22T07:34:49.880490","created_date":"2025-11-23T00:00:00"}