{"id":"https://openalex.org/W4402386486","doi":"https://doi.org/10.48550/arxiv.2408.05602","title":"Safety Enhancement in Planetary Rovers: Early Detection of Tip-over Risks Using Autoencoders","display_name":"Safety Enhancement in Planetary Rovers: Early Detection of Tip-over Risks Using Autoencoders","publication_year":2024,"publication_date":"2024-08-10","ids":{"openalex":"https://openalex.org/W4402386486","doi":"https://doi.org/10.48550/arxiv.2408.05602"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2408.05602","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.05602","pdf_url":"https://arxiv.org/pdf/2408.05602","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2408.05602","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042862102","display_name":"Mariela De Lucas \u00c1lvarez","orcid":"https://orcid.org/0000-0003-0846-4507","observed_orcids":["https://orcid.org/0000-0003-0846-4507"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Alvarez, Mariela De Lucas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5042862102"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4417000114917755,"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":0.4417000114917755,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.1881999969482422,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.11460000276565552,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planetary-rovers","display_name":"planetary rovers","score":0.8949999809265137},{"id":"https://openalex.org/keywords/rimless-wheel","display_name":"rimless wheel","score":0.9200000166893005},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"inertial measurement unit","score":0.9350000023841858},{"id":"https://openalex.org/keywords/lstm-autoencoder","display_name":"LSTM autoencoder","score":0.8320000171661377},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"anomaly detection","score":0.5590000152587891}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.447043240070343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41417694091796875},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3376171588897705},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19734850525856018}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2408.05602","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.05602","pdf_url":"https://arxiv.org/pdf/2408.05602","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"doi:10.48550/arxiv.2408.05602","doi":"https://doi.org/10.48550/arxiv.2408.05602","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2408.05602","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2408.05602","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.05602","pdf_url":"https://arxiv.org/pdf/2408.05602","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G3316557913","display_name":"European Academy for Marine and Underwater Robotics","funder_award_id":"608096","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320311518","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402386486.pdf","grobid_xml":"https://content.openalex.org/works/W4402386486.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4408461561","https://openalex.org/W2811296836","https://openalex.org/W1876290296","https://openalex.org/W4327657849","https://openalex.org/W3206547040","https://openalex.org/W7110562195","https://openalex.org/W1538199076","https://openalex.org/W6998442992","https://openalex.org/W3099924857","https://openalex.org/W4414379583"],"abstract_inverted_index":{"Autonomous":[0],"robots":[1],"consistently":[2],"encounter":[3],"unforeseen":[4],"dangerous":[5],"situations":[6],"during":[7,81],"exploration":[8,83,132],"missions.":[9,133],"The":[10],"characteristic":[11],"rimless":[12],"wheels":[13],"in":[14],"the":[15,32,39,74,79,101],"AsguardIV":[16],"rover":[17,33,80],"allow":[18],"it":[19],"to":[20,34,58,92],"overcome":[21],"challenging":[22],"terrains.":[23],"However,":[24],"steep":[25],"slopes":[26],"or":[27,51],"difficult":[28],"maneuvers":[29],"can":[30],"cause":[31],"tip":[35],"over":[36],"and":[37,60,72,76,96,125],"threaten":[38],"completion":[40],"of":[41,78,103,106],"a":[42],"mission.":[43,84],"This":[44],"work":[45,117],"focuses":[46],"on":[47],"identifying":[48],"early":[49],"signs":[50],"initial":[52],"stages":[53],"for":[54,121,129],"potential":[55],"tip-over":[56,123],"events":[57],"predict":[59],"detect":[61],"these":[62],"critical":[63],"moments":[64],"before":[65],"they":[66],"fully":[67],"occur,":[68],"possibly":[69],"preventing":[70],"accidents":[71],"enhancing":[73],"safety":[75,127],"stability":[77],"its":[82],"Inertial":[85],"Measurement":[86],"Units":[87],"(IMU)":[88],"readings":[89],"are":[90],"used":[91],"develop":[93],"compact,":[94],"robust,":[95],"efficient":[97],"Autoencoders":[98],"that":[99],"combine":[100],"power":[102],"sequence":[104],"processing":[105],"Long":[107],"Short-Term":[108],"Memory":[109],"Networks":[110],"(LSTM).":[111],"By":[112],"leveraging":[113],"LSTM-based":[114],"Autoencoders,":[115],"this":[116],"contributes":[118],"predictive":[119],"capabilities":[120],"detecting":[122],"risks":[124],"developing":[126],"measures":[128],"more":[130],"reliable":[131]},"counts_by_year":[],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2024-09-10T00:00:00"}