{"id":"https://openalex.org/W7116804379","doi":"https://doi.org/10.1631/fitee.2500348","title":"E2MN: human-inspired end-to-end mapless navigation with oscillation suppression and short-term memory","display_name":"E2MN: human-inspired end-to-end mapless navigation with oscillation suppression and short-term memory","publication_year":2025,"publication_date":"2025-11-01","ids":{"openalex":"https://openalex.org/W7116804379","doi":"https://doi.org/10.1631/fitee.2500348"},"language":"en","primary_location":{"id":"doi:10.1631/fitee.2500348","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.2500348","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic Engineering","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/A5120971191","display_name":"Yinan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinan Yang","raw_affiliation_strings":["School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China"],"raw_orcid":"https://orcid.org/0009-0007-1626-5141","affiliations":[{"raw_affiliation_string":"School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047059705","display_name":"Zhiye Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiye Wang","raw_affiliation_strings":["School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China"],"raw_orcid":"https://orcid.org/0009-0002-0116-2477","affiliations":[{"raw_affiliation_string":"School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120996096","display_name":"Xuan Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127530","display_name":"Jining University","ror":"https://ror.org/037rvh518","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210127530"]},{"id":"https://openalex.org/I51185872","display_name":"Jining Medical University","ror":"https://ror.org/03zn9gq54","country_code":"CN","type":"education","lineage":["https://openalex.org/I51185872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuan Kong","raw_affiliation_strings":["Jining, 272000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jining, 272000, China","institution_ids":["https://openalex.org/I4210127530","https://openalex.org/I51185872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000121271","display_name":"Peng Zhi","orcid":"https://orcid.org/0000-0002-3318-9247"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zhi","raw_affiliation_strings":["School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048152398","display_name":"Dapeng Zhang","orcid":"https://orcid.org/0000-0002-9525-5553"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dapeng Zhang","raw_affiliation_strings":["School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120977884","display_name":"Rui Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rui Zhou","raw_affiliation_strings":["School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China"],"raw_orcid":"https://orcid.org/0000-0002-9968-6190","affiliations":[{"raw_affiliation_string":"School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110753692","display_name":"Qingguo Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingguo Zhou","raw_affiliation_strings":["School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science & Engineering, Lanzhou University, Lanzhou, 730000, China","institution_ids":["https://openalex.org/I76214153"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5120977884"],"corresponding_institution_ids":["https://openalex.org/I76214153"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.68667454,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":"11","first_page":"2254","last_page":"2281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8079000115394592,"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":0.8079000115394592,"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":0.08749999850988388,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.019700000062584877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5921000242233276},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4659000039100647},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.46549999713897705},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.46050000190734863},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43630000948905945},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34599998593330383},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33250001072883606}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6089000105857849},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5921000242233276},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4659000039100647},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.46549999713897705},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.46050000190734863},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44449999928474426},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43630000948905945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4327999949455261},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4074000120162964},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34599998593330383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33250001072883606},{"id":"https://openalex.org/C96522737","wikidata":"https://www.wikidata.org/wiki/Q17148345","display_name":"Path integration","level":2,"score":0.3075999915599823},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29350000619888306},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.2782999873161316},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1631/fitee.2500348","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.2500348","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic Engineering","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/W1515188965","https://openalex.org/W2002440441","https://openalex.org/W2069830673","https://openalex.org/W2114476723","https://openalex.org/W2117211893","https://openalex.org/W2119559506","https://openalex.org/W2125409550","https://openalex.org/W2149736015","https://openalex.org/W2164940357","https://openalex.org/W2177274602","https://openalex.org/W2583534121","https://openalex.org/W2587603701","https://openalex.org/W2787709696","https://openalex.org/W2889923199","https://openalex.org/W2908135355","https://openalex.org/W2945850646","https://openalex.org/W2945976633","https://openalex.org/W2963428623","https://openalex.org/W2967204064","https://openalex.org/W2984168904","https://openalex.org/W2995126808","https://openalex.org/W3034338243","https://openalex.org/W3089695338","https://openalex.org/W3089758177","https://openalex.org/W3094551248","https://openalex.org/W3103581036","https://openalex.org/W3206901743","https://openalex.org/W4200066496","https://openalex.org/W4210448720","https://openalex.org/W4220970489","https://openalex.org/W4281384582","https://openalex.org/W4285102644","https://openalex.org/W4285813054","https://openalex.org/W4295046628","https://openalex.org/W4298857966","https://openalex.org/W4383066352","https://openalex.org/W4386821342","https://openalex.org/W4391769384","https://openalex.org/W4393973499","https://openalex.org/W4404371149","https://openalex.org/W4405785648","https://openalex.org/W4407781832","https://openalex.org/W4408355371"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"navigation":[1,41],"in":[2,16],"unknown":[3],"environments":[4,105],"is":[5,80],"challenging":[6],"due":[7],"to":[8,55,135,149],"the":[9,118,127,136],"lack":[10],"of":[11],"high-definition":[12],"maps.":[13],"Building":[14],"maps":[15],"real":[17],"time":[18],"requires":[19,86],"significant":[20],"computational":[21],"resources.":[22],"Nevertheless,":[23],"sensor":[24],"data":[25,75],"can":[26],"provide":[27],"sufficient":[28],"environmental":[29],"context":[30],"for":[31],"robots\u2019":[32],"navigation.":[33,151],"This":[34],"paper":[35],"presents":[36],"an":[37],"interpretable":[38],"and":[39,49,70,76,82,84,94,106,111,141],"mapless":[40,138],"method":[42,120],"using":[43],"only":[44,145],"two-dimensional":[45],"(2D)":[46],"light":[47],"detection":[48],"ranging":[50],"(LiDAR),":[51],"mimicking":[52],"human":[53],"strategies":[54],"escape":[56],"from":[57,98],"dead":[58],"ends.":[59],"Unlike":[60],"traditional":[61],"planners,":[62],"which":[63],"depend":[64],"on":[65],"global":[66],"paths":[67],"or":[68],"vision-based":[69],"learning-based":[71],"methods,":[72],"requiring":[73],"heavy":[74],"hardware,":[77],"our":[78],"approach":[79],"lightweight":[81],"robust,":[83],"it":[85,143],"no":[87],"prior":[88],"map.":[89],"It":[90],"effectively":[91],"suppresses":[92],"oscillations":[93],"enables":[95],"autonomous":[96],"recovery":[97],"local":[99],"minimum":[100],"traps.":[101],"Experiments":[102],"across":[103],"diverse":[104],"routes,":[107],"including":[108],"ablation":[109],"studies":[110],"comparisons":[112],"with":[113],"existing":[114],"frameworks,":[115],"show":[116],"that":[117],"proposed":[119],"achieves":[121],"map-like":[122],"performance":[123],"without":[124],"a":[125],"map\u2014reducing":[126],"average":[128],"path":[129],"length":[130],"by":[131,144],"50.51%":[132],"when":[133,147],"compared":[134,148],"classical":[137],"Bug2":[139],"algorithm":[140],"increasing":[142],"17.57%":[146],"map-based":[150]},"counts_by_year":[],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-12-22T00:00:00"}
