{"id":"https://openalex.org/W7128694807","doi":"https://doi.org/10.1007/s11370-026-00696-4","title":"Slope-constrained global path planning for quadruped robots","display_name":"Slope-constrained global path planning for quadruped robots","publication_year":2026,"publication_date":"2026-02-13","ids":{"openalex":"https://openalex.org/W7128694807","doi":"https://doi.org/10.1007/s11370-026-00696-4"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-026-00696-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-026-00696-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00696-4.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00696-4.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101895582","display_name":"Ali Yousefi","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ali Yousefi","raw_affiliation_strings":["DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy"],"affiliations":[{"raw_affiliation_string":"DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093251743","display_name":"Zoe Betta","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Zoe Betta","raw_affiliation_strings":["DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy"],"affiliations":[{"raw_affiliation_string":"DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125713750","display_name":"Carmine Tommaso Recchiuto","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carmine Tommaso Recchiuto","raw_affiliation_strings":["DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy"],"affiliations":[{"raw_affiliation_string":"DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":null,"display_name":"Antonio Sgorbissa","orcid":"https://orcid.org/0000-0001-7789-4311"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Sgorbissa","raw_affiliation_strings":["DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy"],"affiliations":[{"raw_affiliation_string":"DIBRIS, University of Genova, Via Opera Pia 13, Genova, 16145, GE, Italy","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5093251743"],"corresponding_institution_ids":["https://openalex.org/I83816512"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41617629,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7080000042915344,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.7080000042915344,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.1915999948978424,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.01080000028014183,"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/terrain","display_name":"Terrain","score":0.630299985408783},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6298999786376953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6215000152587891},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.5997999906539917},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5626999735832214},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5293999910354614},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5055999755859375},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.48579999804496765},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.38359999656677246}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7603999972343445},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.630299985408783},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6298999786376953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6215000152587891},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.5997999906539917},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5626999735832214},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5293999910354614},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5055999755859375},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.48579999804496765},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.38359999656677246},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3734000027179718},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3621000051498413},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.3578999936580658},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3549000024795532},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3199000060558319},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.303600013256073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3034999966621399},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.29089999198913574},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.27790001034736633},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2612000107765198},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2563000023365021}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11370-026-00696-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-026-00696-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00696-4.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s11370-026-00696-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11370-026-00696-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11370-026-00696-4.pdf","source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7666682004928589,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322794","display_name":"Universit\u00e0 degli Studi di Genova","ror":"https://ror.org/0107c5v14"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W7128694807.pdf"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1502517891","https://openalex.org/W1814533834","https://openalex.org/W1971086298","https://openalex.org/W2105248582","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2141664020","https://openalex.org/W2159722616","https://openalex.org/W2471969791","https://openalex.org/W2809054577","https://openalex.org/W2963785187","https://openalex.org/W2965215408","https://openalex.org/W3097090618","https://openalex.org/W3109385091","https://openalex.org/W3171346368","https://openalex.org/W3193135535","https://openalex.org/W3214103722","https://openalex.org/W4224273127","https://openalex.org/W4253729359","https://openalex.org/W4312749288","https://openalex.org/W4360976217"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Legged":[1],"robots":[2,94],"are":[3,154],"increasingly":[4],"deployed":[5],"on":[6,35,45,129,220,248],"natural":[7,251],"terrain,":[8],"yet":[9],"most":[10],"global":[11,88,212,261],"planners":[12],"either":[13],"ignore":[14],"slope":[15,152,230],"and":[16,72,98,104,116,132,140,176,182,197,245],"directional":[17],"traversability,":[18],"encode":[19],"terrain":[20],"steepness":[21],"only":[22,77],"as":[23,214],"a":[24,59,78,86,167,171,221],"simple":[25],"cost":[26],"term":[27],"that":[28,41,58,95,187,198],"often":[29],"assumes":[30],"symmetric":[31],"traversal,":[32],"or":[33,69,194],"depend":[34],"computationally":[36],"expensive":[37],"dense":[38],"3D":[39],"maps":[40],"limit":[42],"real-time":[43],"use":[44],"embedded":[46],"CPUs.":[47],"These":[48,253],"limitations":[49],"reduce":[50],"safety":[51],"(e.g.,":[52],"unexpected":[53],"rollovers);":[54],"neglect":[55],"the":[56,109,158,163],"fact":[57],"surface":[60],"patch":[61],"may":[62],"be":[63],"traversable":[64],"uphill":[65],"but":[66],"unsafe":[67],"downhill,":[68],"vice":[70],"versa;":[71],"constrain":[73],"operational":[74],"range":[75],"when":[76],"local":[79],"elevation":[80,174,224],"map":[81,175,216],"is":[82],"available.":[83],"We":[84,161],"present":[85],"slope-constrained":[87],"path":[89],"planning":[90,262],"method":[91],"for":[92,258],"quadruped":[93],"factors":[96],"pitch":[97],"roll":[99,200],"limits":[100,201],"directly":[101],"into":[102],"state":[103],"motion":[105],"validity":[106],"instead":[107],"of":[108,228],"optimization":[110],"objective.":[111],"It":[112],"samples":[113],"2D":[114],"positions":[115],"attaches":[117],"paired":[118],"opposite":[119],"headings":[120],"to":[121],"exploit":[122],"forward/backward":[123],"locomotion":[124],"while":[125],"minimizing":[126],"in-place":[127],"rotation":[128],"steep":[130],"ground,":[131],"it":[133,178],"validates":[134],"inter-node":[135],"motions":[136],"with":[137,170],"distance,":[138],"slope,":[139],"heading":[141],"change":[142],"thresholds":[143,153],"using":[144],"an":[145,226],"adapted":[146],"LazyPRM*":[147],"road":[148],"map.":[149],"Nodes":[150],"violating":[151],"pruned":[155],"early,":[156],"shrinking":[157],"search":[159],"space.":[160],"implement":[162],"proposed":[164],"approach":[165],"in":[166,179,206,263],"ROS":[168],"framework":[169],"CPU-efficient":[172],"2.5D":[173],"validate":[177],"both":[180],"simulation":[181],"real-world":[183],"scenarios.":[184],"Results":[185],"show":[186],"tightening":[188],"pitch/roll":[189],"bounds":[190],"induces":[191],"characteristic":[192],"zigzag":[193],"circumferential":[195],"paths":[196],"omitting":[199],"can":[202],"cause":[203],"catastrophic":[204],"failures":[205],"simulation.":[207],"Limitations":[208],"include":[209],"no":[210],"online":[211],"replanning":[213],"new":[215],"data":[217],"arrive,":[218],"reliance":[219],"bounded":[222],"initial":[223],"map,":[225],"assumption":[227],"quasi-uniform":[229],"between":[231],"closely":[232],"spaced":[233],"(":[234],"$$&lt;10$$":[235],"<mml:math":[236],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\">":[237],"<mml:mrow>":[238],"<mml:mo>&lt;</mml:mo>":[239],"<mml:mn>10</mml:mn>":[240],"</mml:mrow>":[241],"</mml:math>":[242],"cm)":[243],"waypoints,":[244],"limited":[246],"testing":[247],"extremely":[249],"challenging":[250],"terrain.":[252],"constraints":[254],"outline":[255],"clear":[256],"directions":[257],"extending":[259],"slope-informed":[260],"legged":[264],"autonomy.":[265]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-02-13T00:00:00"}