{"id":"https://openalex.org/W2909595458","doi":"https://doi.org/10.1109/iros.2018.8593771","title":"Probabilistic Kinematic State Estimation for Motion Planning of Planetary Rovers","display_name":"Probabilistic Kinematic State Estimation for Motion Planning of Planetary Rovers","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909595458","doi":"https://doi.org/10.1109/iros.2018.8593771","mag":"2909595458"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593771","doi":"https://doi.org/10.1109/iros.2018.8593771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593771","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5023899233","display_name":"Sourish Ghosh","orcid":"https://orcid.org/0000-0001-8438-9487","observed_orcids":["https://orcid.org/0000-0001-8438-9487","https://orcid.org/0000-0003-1349-6482"]},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sourish Ghosh","raw_affiliation_strings":["Sourish Ghosh is with the Department of Mathematics, Indian Institute of Technology, Kharagpur, West Bengal, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sourish Ghosh is with the Department of Mathematics, Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057288593","display_name":"Kyohei Otsu","orcid":"https://orcid.org/0000-0002-9363-8817","observed_orcids":["https://orcid.org/0000-0002-9363-8817"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyohei Otsu","raw_affiliation_strings":["Kyohei Otsu and Masahiro Ono are with the Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyohei Otsu and Masahiro Ono are with the Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101837588","display_name":"Masahiro Ono","orcid":"https://orcid.org/0000-0002-9247-1306","observed_orcids":["https://orcid.org/0000-0002-9247-1306"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masahiro Ono","raw_affiliation_strings":["Kyohei Otsu and Masahiro Ono are with the Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyohei Otsu and Masahiro Ono are with the Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6027,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80850214,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5148","last_page":"5154"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9653000235557556,"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":0.9653000235557556,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.010700000450015068,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.007400000002235174,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planetary-rovers","display_name":"planetary rovers","score":0.8999999761581421},{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.6710000038146973},{"id":"https://openalex.org/keywords/probabilistic-state-estimation","display_name":"probabilistic state estimation","score":0.9229999780654907},{"id":"https://openalex.org/keywords/probabilistic-safety-guarantees","display_name":"probabilistic safety guarantees","score":0.6320000290870667},{"id":"https://openalex.org/keywords/mars-2020-rover","display_name":"Mars 2020 rover","score":0.8759999871253967},{"id":"https://openalex.org/keywords/unstructured-terrain","display_name":"unstructured terrain","score":0.8479999899864197}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7269930839538574},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7115455865859985},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.6135551929473877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5883268117904663},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5633707046508789},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.547784686088562},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.47467994689941406},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4686398208141327},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4505588710308075},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41018444299697876},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.37967821955680847},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34653979539871216},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33735448122024536},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32350409030914307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28476497530937195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2789050340652466},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09911772608757019},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593771","doi":"https://doi.org/10.1109/iros.2018.8593771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593771","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W618821520","https://openalex.org/W1559777421","https://openalex.org/W1836839941","https://openalex.org/W2031424285","https://openalex.org/W2109050412","https://openalex.org/W2131288186","https://openalex.org/W2163411428","https://openalex.org/W2255821322","https://openalex.org/W2885305769","https://openalex.org/W3176916874","https://openalex.org/W4214587036","https://openalex.org/W6692128845"],"related_works":["https://openalex.org/W2955784261","https://openalex.org/W2087939536","https://openalex.org/W3124602784","https://openalex.org/W2111011903","https://openalex.org/W2150765347","https://openalex.org/W2521892376","https://openalex.org/W4286890534","https://openalex.org/W7202270053","https://openalex.org/W4285045443","https://openalex.org/W4383109142"],"abstract_inverted_index":{"Kinematics-based":[0],"collision":[1,21],"detection":[2],"is":[3,57,156,185],"important":[4],"for":[5,62,188],"robot":[6],"motion":[7],"planning":[8,58],"in":[9,115,141],"unstructured":[10],"terrain.":[11],"Especially,":[12],"planetary":[13],"rovers":[14],"require":[15],"such":[16],"capability":[17],"as":[18,38,111],"a":[19,28,49,125,194],"single":[20],"may":[22],"lead":[23,103],"to":[24,59,104,157,176],"the":[25,63,70,83,87,93,136,178,203],"termination":[26],"of":[27,73,90,130,139,146,153,181],"mission.":[29,67],"For":[30],"onboard":[31],"computation,":[32],"typical":[33],"numeric":[34],"approaches":[35],"are":[36,40,108,174],"unsuitable":[37],"they":[39],"computationally":[41,126],"expensive":[42],"and":[43,81,161],"unstable":[44],"on":[45],"rocky":[46],"terrain;":[47],"instead,":[48],"light-weight":[50],"analytic":[51],"solution":[52],"(ACE:":[53],"Approximate":[54],"Clearance":[55],"Evaluation)":[56],"be":[60],"used":[61,175,187],"Mars":[64],"2020":[65],"rover":[66],"ACE":[68,131],"computes":[69],"state":[71,205],"bounds":[72,206],"articulated":[74],"suspension":[75],"systems":[76],"from":[77],"terrain":[78],"height":[79],"bounds,":[80,155],"assess":[82],"safety":[84,98,168,209],"by":[85],"checking":[86],"constraint":[88,182],"violation":[89],"states":[91,107,140],"with":[92,166,193],"worst-case":[94,164],"values.":[95],"ACE's":[96],"conservative":[97],"check":[99],"approach":[100],"can":[101],"sometimes":[102],"over-pessimism:":[105],"feasible":[106],"often":[109],"reported":[110],"infeasible,":[112],"thus":[113],"resulting":[114],"frequent":[116],"false":[117],"positive":[118],"detection.":[119],"In":[120],"this":[121],"paper,":[122],"we":[123,197],"introduce":[124],"efficient":[127],"probabilistic":[128,167],"variant":[129],"(called":[132],"p-ACE)":[133],"which":[134,184],"estimates":[135],"probability":[137,148,180],"distributions":[138,149],"real":[142],"time.":[143],"The":[144],"advantage":[145],"having":[147],"over":[150],"states,":[151],"instead":[152],"deterministic":[154,204],"provide":[158],"more":[159],"flexible":[160],"less":[162],"pessimistic":[163],"evaluation":[165],"guarantees.":[169,210],"Empirically":[170],"derived":[171],"distribution":[172],"models":[173],"compute":[177],"total":[179],"satisfaction,":[183],"then":[186],"path":[189],"assessment.":[190],"Through":[191],"experiments":[192],"high-fidelity":[195],"simulator,":[196],"empirically":[198],"show":[199],"that":[200],"p-ACE":[201],"relaxes":[202],"without":[207],"losing":[208]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2019-01-25T00:00:00"}
