Receptor involved in the development of the cardiovascular system, in angiogenesis, in the formation of certain neuronal circuits and in organogenesis outside the nervous system. It mediates the chemorepulsant activity of semaphorins. Regulates angiogenesis through a VEGF-dependent pathway. Expressed both maternally and zygotically. Maternal transcripts are widely expressed until the early gastrula stage, then become localized to the yolk syncytial layer. During somatogenesis and later stages of development, expression occurs mainly in neuronal and vascular tissues. Belongs to the neuropilin family.