{"id":"https://openalex.org/W2024596103","doi":"https://doi.org/10.1163/016918610x501499","title":"Dynamic Simulation-Based Action Planner for a Reconfigurable Hybrid Leg\u2013Wheel Planetary Exploration Rover","display_name":"Dynamic Simulation-Based Action Planner for a Reconfigurable Hybrid Leg\u2013Wheel Planetary Exploration Rover","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2024596103","doi":"https://doi.org/10.1163/016918610x501499","mag":"2024596103"},"language":"en","primary_location":{"id":"doi:10.1163/016918610x501499","doi":"https://doi.org/10.1163/016918610x501499","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x501499","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-c","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"volume":null,"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/A5011671105","display_name":"Eric Rohmer","orcid":"https://orcid.org/0000-0002-0689-2703","observed_orcids":["https://orcid.org/0000-0002-0689-2703"]},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eric Rohmer","raw_affiliation_strings":["a Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan;, Email: eric@astro.mech.tohoku.ac.jp","Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan;, Email: eric@astro.mech.tohoku.ac.jp"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan;, Email: eric@astro.mech.tohoku.ac.jp","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan;, Email: eric@astro.mech.tohoku.ac.jp","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056616210","display_name":"Giulio Reina","orcid":"https://orcid.org/0000-0003-1793-4419","observed_orcids":["https://orcid.org/0000-0003-1793-4419"]},"institutions":[{"id":"https://openalex.org/I142910587","display_name":"University of Salento","ror":"https://ror.org/03fc1k060","country_code":"IT","type":"education","lineage":["https://openalex.org/I142910587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Reina","raw_affiliation_strings":["b Department of Engineering for Innovation, University of Salento, Via Arnesano, 73100 Lecce, Italy","Department of Engineering for Innovation, University of Salento, Via Arnesano, 73100 Lecce, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b Department of Engineering for Innovation, University of Salento, Via Arnesano, 73100 Lecce, Italy","institution_ids":["https://openalex.org/I142910587"]},{"raw_affiliation_string":"Department of Engineering for Innovation, University of Salento, Via Arnesano, 73100 Lecce, Italy","institution_ids":["https://openalex.org/I142910587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877","observed_orcids":["https://orcid.org/0000-0003-3889-5877"]},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Yoshida","raw_affiliation_strings":["c Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan","Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, 980-8579 Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.598,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.89698634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"24","issue":"8-9","first_page":"1219","last_page":"1238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.24709999561309814,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.24709999561309814,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.16760000586509705,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.15230000019073486,"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/planetary-rovers","display_name":"planetary rovers","score":0.8360000252723694},{"id":"https://openalex.org/keywords/action-planning","display_name":"action planning","score":0.8629999756813049},{"id":"https://openalex.org/keywords/locomotion-mode-switching","display_name":"locomotion mode switching","score":0.8450000286102295},{"id":"https://openalex.org/keywords/reconfigurable-robots","display_name":"reconfigurable robots","score":0.7580000162124634},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"dynamic simulation","score":0.8550000190734863},{"id":"https://openalex.org/keywords/energy-profile","display_name":"energy profile","score":0.42899999022483826},{"id":"https://openalex.org/keywords/path-planning","display_name":"path planning","score":0.5419999957084656},{"id":"https://openalex.org/keywords/space-robotics","display_name":"space robotics","score":0.40299999713897705},{"id":"https://openalex.org/keywords/height-maps","display_name":"height maps","score":0.4869999885559082}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5983598828315735},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5522361993789673},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5412639379501343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.536463737487793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5331897735595703},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4992191791534424},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45488524436950684},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.44332244992256165},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4007912874221802},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37250766158103943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3409624695777893},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3246438503265381},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1163/016918610x501499","doi":"https://doi.org/10.1163/016918610x501499","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x501499","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-c","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:iris.unisalento.it:11587/340240","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/11587/340240","pdf_url":null,"source":{"id":"https://openalex.org/S7407055257","display_name":"AIRUS","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1520071815","https://openalex.org/W1548797027","https://openalex.org/W1553616171","https://openalex.org/W1563220567","https://openalex.org/W1578483761","https://openalex.org/W1980530771","https://openalex.org/W2062379763","https://openalex.org/W2066186727","https://openalex.org/W2112677235","https://openalex.org/W2135928204","https://openalex.org/W2289148480","https://openalex.org/W2611243847","https://openalex.org/W4235917239","https://openalex.org/W4253755764"],"related_works":["https://openalex.org/W2103695440","https://openalex.org/W2753263537","https://openalex.org/W2981852284","https://openalex.org/W2127569924","https://openalex.org/W4388273856","https://openalex.org/W7099146954","https://openalex.org/W7160525088","https://openalex.org/W70695431","https://openalex.org/W2658966670","https://openalex.org/W934412421"],"abstract_inverted_index":{"In":[0],"this":[1,76,93,162],"paper,":[2],"an":[3,54,96,104,114],"action":[4,105],"planning":[5],"algorithm":[6],"is":[7,50,78,125,147,176,191],"presented":[8],"for":[9,127,203],"a":[10,34,118,144,185,194,198],"reconfigurable":[11,199],"hybrid":[12,84,200],"leg\u2013wheel":[13,17],"mobile":[14],"robot.":[15],"Hybrid":[16],"robots":[18],"have":[19],"recently":[20],"receiving":[21],"growing":[22],"interest":[23],"from":[24],"the":[25,51,64,70,82,100,109,128,134,138,141,166,174,180],"space":[26,129],"community":[27],"to":[28,36,57,60,80,92,132,193],"explore":[29],"planets,":[30],"as":[31],"they":[32],"offer":[33],"solution":[35],"improve":[37],"speed":[38],"and":[39,73,152,209],"mobility":[40],"on":[41,69,150,165,179],"uneven":[42],"terrain.":[43],"One":[44],"critical":[45],"issue":[46],"connected":[47],"with":[48],"them":[49],"study":[52],"of":[53,99,120,137,197],"appropriate":[55,110],"strategy":[56],"define":[58],"when":[59],"use":[61],"one":[62],"over":[63],"other":[65],"locomotion":[66,111],"mode,":[67],"depending":[68],"soil":[71],"properties":[72],"topology.":[74],"Although":[75],"step":[77],"crucial":[79],"reach":[81],"full":[83],"mechanism's":[85],"potential,":[86],"little":[87],"attention":[88],"has":[89],"been":[90],"devoted":[91],"topic.":[94],"Given":[95],"elevation":[97],"map":[98],"environment,":[101],"we":[102],"developed":[103],"planner":[106],"that":[107],"selects":[108],"mode":[112],"along":[113,161],"optimal":[115],"path":[116,146,163,175],"toward":[117],"point":[119],"scientific":[121],"interest.":[122],"This":[123],"tool":[124],"helpful":[126],"mission":[130],"team":[131],"decide":[133],"next":[135],"move":[136],"robot":[139,202],"during":[140],"exploration.":[142],"First,":[143],"candidate":[145],"generated":[148],"based":[149,164,178],"topology":[151],"specifications'":[153],"criteria":[154],"functions.":[155],"Then,":[156],"switching":[157],"actions":[158],"are":[159],"defined":[160],"robot's":[167],"performance":[168],"in":[169],"each":[170],"motion":[171],"mode.":[172],"Finally,":[173],"rated":[177],"energy":[181],"profile":[182],"evaluated":[183],"using":[184],"dynamic":[186],"simulator.":[187],"The":[188],"proposed":[189],"approach":[190],"applied":[192],"concept":[195],"prototype":[196],"wheel\u2013leg":[201],"planetary":[204],"exploration":[205],"through":[206],"extensive":[207],"simulations":[208],"real":[210],"experiments.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-03T13:16:28.481748","created_date":"2016-06-24T00:00:00"}