{"id":"https://openalex.org/W4399353349","doi":"https://doi.org/10.3390/s24113663","title":"A Context-Aware Navigation Framework for Ground Robots in Horticultural Environments","display_name":"A Context-Aware Navigation Framework for Ground Robots in Horticultural Environments","publication_year":2024,"publication_date":"2024-06-05","ids":{"openalex":"https://openalex.org/W4399353349","doi":"https://doi.org/10.3390/s24113663","pmid":"https://pubmed.ncbi.nlm.nih.gov/38894456"},"language":"en","primary_location":{"id":"doi:10.3390/s24113663","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24113663","pdf_url":"https://www.mdpi.com/1424-8220/24/11/3663/pdf?version=1717591523","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/11/3663/pdf?version=1717591523","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100595142","display_name":"Peiqi Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peiqi Jin","raw_affiliation_strings":["College of Engineering, South China Agriculture University, Guangzhou 510070, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, South China Agriculture University, Guangzhou 510070, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087899063","display_name":"Tongxiang Li","orcid":"https://orcid.org/0000-0002-4642-2781"},"institutions":[{"id":"https://openalex.org/I62800249","display_name":"Xingtai University","ror":"https://ror.org/05c1r5z64","country_code":"CN","type":"education","lineage":["https://openalex.org/I62800249"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tongxiang Li","raw_affiliation_strings":["TongTai Technology Co., Ltd., Qingdao 266000, China"],"affiliations":[{"raw_affiliation_string":"TongTai Technology Co., Ltd., Qingdao 266000, China","institution_ids":["https://openalex.org/I62800249"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058168330","display_name":"Yaoqiang Pan","orcid":"https://orcid.org/0009-0001-6137-2735"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoqiang Pan","raw_affiliation_strings":["College of Engineering, South China Agriculture University, Guangzhou 510070, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, South China Agriculture University, Guangzhou 510070, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109728656","display_name":"Kewei Hu","orcid":"https://orcid.org/0009-0003-6140-9520"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kewei Hu","raw_affiliation_strings":["College of Engineering, South China Agriculture University, Guangzhou 510070, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, South China Agriculture University, Guangzhou 510070, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036357290","display_name":"Nuo Xu","orcid":"https://orcid.org/0000-0001-7214-1986"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nuo Xu","raw_affiliation_strings":["College of Engineering, South China Agriculture University, Guangzhou 510070, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, South China Agriculture University, Guangzhou 510070, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024330462","display_name":"Ying Wei","orcid":"https://orcid.org/0000-0003-0915-5378"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Ying","raw_affiliation_strings":["College of Engineering, South China Agriculture University, Guangzhou 510070, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, South China Agriculture University, Guangzhou 510070, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085392712","display_name":"Yangwen Jin","orcid":"https://orcid.org/0009-0001-2133-2157"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangwen Jin","raw_affiliation_strings":["College of Engineering, South China Agriculture University, Guangzhou 510070, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, South China Agriculture University, Guangzhou 510070, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038896099","display_name":"Hanwen Kang","orcid":"https://orcid.org/0000-0001-5553-9239"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanwen Kang","raw_affiliation_strings":["College of Engineering, South China Agriculture University, Guangzhou 510070, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering, South China Agriculture University, Guangzhou 510070, China","institution_ids":["https://openalex.org/I101479585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5087899063","https://openalex.org/A5100595142"],"corresponding_institution_ids":["https://openalex.org/I101479585","https://openalex.org/I62800249"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.3793,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.88590221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"24","issue":"11","first_page":"3663","last_page":"3663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.980400025844574,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.96670001745224,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7046672701835632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.695851743221283},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6875118017196655},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5288803577423096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5254877209663391},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.514335036277771},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.47236567735671997},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4519649147987366},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44906818866729736},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.43161624670028687},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43131914734840393},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42183929681777954},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4173264503479004},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4104204773902893},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.19219043850898743},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17302441596984863},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17283183336257935},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14353951811790466}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7046672701835632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.695851743221283},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6875118017196655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5288803577423096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5254877209663391},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.514335036277771},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.47236567735671997},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4519649147987366},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44906818866729736},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.43161624670028687},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43131914734840393},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42183929681777954},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4173264503479004},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4104204773902893},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.19219043850898743},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17302441596984863},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17283183336257935},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14353951811790466},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24113663","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24113663","pdf_url":"https://www.mdpi.com/1424-8220/24/11/3663/pdf?version=1717591523","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:38894456","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38894456","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11175238","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11175238","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11175238/pdf/sensors-24-03663.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:c6d33d62b62b4dd5a14c7907d328ebfd","is_oa":true,"landing_page_url":"https://doaj.org/article/c6d33d62b62b4dd5a14c7907d328ebfd","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 11, p 3663 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24113663","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24113663","pdf_url":"https://www.mdpi.com/1424-8220/24/11/3663/pdf?version=1717591523","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4399353349.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1600489018","https://openalex.org/W2064782300","https://openalex.org/W2080823437","https://openalex.org/W2097696373","https://openalex.org/W2131439959","https://openalex.org/W2142879048","https://openalex.org/W2802671577","https://openalex.org/W2963162156","https://openalex.org/W3048025158","https://openalex.org/W3098146678","https://openalex.org/W3129245057","https://openalex.org/W3134385809","https://openalex.org/W3183768538","https://openalex.org/W4253671238","https://openalex.org/W4285183258","https://openalex.org/W4287848462","https://openalex.org/W4289829175","https://openalex.org/W4311055980","https://openalex.org/W4313405145","https://openalex.org/W4366609682","https://openalex.org/W4379231869","https://openalex.org/W4392797050"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2113164274","https://openalex.org/W2093507260","https://openalex.org/W2132444301","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2161428574","https://openalex.org/W2157678966"],"abstract_inverted_index":{"Environmental":[0],"mapping":[1,22,36],"and":[2,23,52,80,95,131,138,154,189],"robot":[3,10,60,68],"navigation":[4,24,61],"are":[5,140],"the":[6,42,67,71,77,82,88,133,177,180,194],"basis":[7],"for":[8,26],"realizing":[9],"automation":[11],"in":[12,103],"modern":[13],"agricultural":[14],"production.":[15],"This":[16],"study":[17],"proposes":[18],"a":[19,31,58,111,165],"new":[20,32],"autonomous":[21],"method":[25,100,121],"gardening":[27],"scene":[28],"robots.":[29],"First,":[30],"LiDAR":[33,107],"slam-based":[34],"semantic":[35,134],"algorithm":[37,184],"is":[38,63,101,157],"proposed":[39,64],"to":[40,44,65,69,76,86,92,151,192],"enable":[41,66],"robots":[43],"analyze":[45],"structural":[46],"information":[47,85,135],"from":[48,55],"point":[49],"cloud":[50],"images":[51],"generate":[53,70,187],"roadmaps":[54],"them.":[56],"Secondly,":[57],"general":[59],"framework":[62],"shortest":[72],"global":[73,161,195],"path":[74,91,162,182],"according":[75],"road":[78],"map,":[79],"consider":[81],"local":[83,90,181],"terrain":[84],"find":[87],"optimal":[89],"achieve":[93],"safe":[94,188],"efficient":[96],"trajectory":[97],"tracking;":[98],"this":[99,120],"equipped":[102],"apple":[104],"orchards.":[105],"The":[106,143,159],"was":[108],"evaluated":[109],"on":[110],"differential":[112],"drive":[113],"robotic":[114],"platform.":[115],"Experimental":[116],"results":[117],"show":[118],"that":[119],"can":[122,148,185],"effectively":[123,186],"process":[124],"orchard":[125],"environmental":[126],"information.":[127],"Compared":[128],"with":[129,169,197],"vnf":[130],"pointnet++,":[132],"extraction":[136,146],"efficiency":[137],"time":[139,147,173,201],"greatly":[141],"improved.":[142],"map":[144],"feature":[145],"be":[149],"reduced":[150],"0.1681":[152],"s,":[153],"its":[155],"MIoU":[156],"0.812.":[158],"resulting":[160],"planning":[163,183],"achieved":[164],"100%":[166],"success":[167],"rate,":[168],"an":[170,198],"average":[171,199],"run":[172],"of":[174,202],"4ms.":[175],"At":[176],"same":[178],"time,":[179],"smooth":[190],"trajectories":[191],"execute":[193],"path,":[196],"running":[200],"36":[203],"ms.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}