{"id":"https://openalex.org/W3185429172","doi":"https://doi.org/10.1080/01691864.2021.1955000","title":"Terrain-aware traverse planning for a Mars sample return rover","display_name":"Terrain-aware traverse planning for a Mars sample return rover","publication_year":2021,"publication_date":"2021-07-27","ids":{"openalex":"https://openalex.org/W3185429172","doi":"https://doi.org/10.1080/01691864.2021.1955000","mag":"3185429172"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2021.1955000","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1955000","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,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"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/A5050527737","display_name":"Gabrielle Hedrick","orcid":null},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"G. Hedrick","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA"],"raw_orcid":"https://orcid.org/0000-0002-4941-3565","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064713953","display_name":"Yu Gu","orcid":"https://orcid.org/0000-0003-3165-3269"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Y. Gu","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050527737"],"corresponding_institution_ids":["https://openalex.org/I12097938"],"apc_list":null,"apc_paid":null,"fwci":0.0971,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.38659536,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"35","issue":"21-22","first_page":"1286","last_page":"1301"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"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":0.9973999857902527,"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/T10406","display_name":"Planetary Science and Exploration","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/traverse","display_name":"Traverse","score":0.9362387657165527},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8904038071632385},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.8295304179191589},{"id":"https://openalex.org/keywords/exploration-of-mars","display_name":"Exploration of Mars","score":0.5934647917747498},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5546377301216125},{"id":"https://openalex.org/keywords/mars-rover","display_name":"Mars rover","score":0.5495327115058899},{"id":"https://openalex.org/keywords/martian","display_name":"Martian","score":0.5372076034545898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5248020887374878},{"id":"https://openalex.org/keywords/mars-landing","display_name":"Mars landing","score":0.4994394779205322},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.44118812680244446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41219276189804077},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3528731167316437},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.33599501848220825},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.2813246250152588},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2071262001991272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19533252716064453},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13498347997665405},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09001335501670837},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.07452195882797241}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.9362387657165527},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8904038071632385},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.8295304179191589},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.5934647917747498},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5546377301216125},{"id":"https://openalex.org/C2781266219","wikidata":"https://www.wikidata.org/wiki/Q389459","display_name":"Mars rover","level":3,"score":0.5495327115058899},{"id":"https://openalex.org/C2778600265","wikidata":"https://www.wikidata.org/wiki/Q913850","display_name":"Martian","level":3,"score":0.5372076034545898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5248020887374878},{"id":"https://openalex.org/C78949437","wikidata":"https://www.wikidata.org/wiki/Q6773188","display_name":"Mars landing","level":4,"score":0.4994394779205322},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.44118812680244446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41219276189804077},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3528731167316437},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.33599501848220825},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.2813246250152588},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2071262001991272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19533252716064453},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13498347997665405},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09001335501670837},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.07452195882797241},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2021.1955000","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1955000","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,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7593214477","display_name":null,"funder_award_id":"WV-80NSSC17M0053","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W133792285","https://openalex.org/W800407167","https://openalex.org/W1509784305","https://openalex.org/W1524995272","https://openalex.org/W1570831159","https://openalex.org/W1602233032","https://openalex.org/W1967090526","https://openalex.org/W1968135389","https://openalex.org/W1969483458","https://openalex.org/W1972953084","https://openalex.org/W1992663770","https://openalex.org/W2016376019","https://openalex.org/W2035510971","https://openalex.org/W2036075293","https://openalex.org/W2036835578","https://openalex.org/W2053833381","https://openalex.org/W2070682236","https://openalex.org/W2081794857","https://openalex.org/W2087179560","https://openalex.org/W2094754962","https://openalex.org/W2096945460","https://openalex.org/W2104813372","https://openalex.org/W2106057319","https://openalex.org/W2106716938","https://openalex.org/W2112677235","https://openalex.org/W2120875877","https://openalex.org/W2122031319","https://openalex.org/W2127998339","https://openalex.org/W2128353551","https://openalex.org/W2128990851","https://openalex.org/W2135107501","https://openalex.org/W2137813581","https://openalex.org/W2138308392","https://openalex.org/W2151435677","https://openalex.org/W2161473822","https://openalex.org/W2163583908","https://openalex.org/W2169528473","https://openalex.org/W2295170077","https://openalex.org/W2324745138","https://openalex.org/W2506342991","https://openalex.org/W2509494001","https://openalex.org/W2605866784","https://openalex.org/W2759943497","https://openalex.org/W2772641691","https://openalex.org/W2809054577","https://openalex.org/W2890848579","https://openalex.org/W2922172934","https://openalex.org/W2949998269","https://openalex.org/W2967175806","https://openalex.org/W2972264811","https://openalex.org/W3019473002","https://openalex.org/W3027871953","https://openalex.org/W3037021533","https://openalex.org/W3099026630","https://openalex.org/W4243063327","https://openalex.org/W4247471021","https://openalex.org/W6768430399"],"related_works":["https://openalex.org/W780354523","https://openalex.org/W2981542648","https://openalex.org/W807612227","https://openalex.org/W1569260595","https://openalex.org/W1535134381","https://openalex.org/W847456094","https://openalex.org/W795177099","https://openalex.org/W2060999106","https://openalex.org/W4247227175","https://openalex.org/W749998852"],"abstract_inverted_index":{"NASA":[0],"and":[1,66,81,110,125,141,153,184],"ESA":[2],"are":[3,79],"proposing":[4],"to":[5,16,29,45,132,161,173,182,192],"retrieve":[6],"samples":[7],"from":[8,26],"Mars":[9,47,75],"with":[10,74],"a":[11,42,101,164],"rover":[12,64,116],"that":[13],"will":[14],"need":[15],"drive":[17,67,111],"long":[18],"distances,":[19],"beyond":[20],"what":[21],"is":[22,86,159],"seen":[23],"on":[24,104],"images":[25],"previous":[27],"downlinks,":[28],"complete":[30],"its":[31,122],"mission":[32],"in":[33],"less":[34],"than":[35],"200":[36],"Martian":[37],"days.":[38],"This":[39],"paper":[40],"proposes":[41],"planning":[43,56,93],"method":[44],"support":[46],"Sample":[48],"Return":[49],"by":[50,120],"integrating":[51],"terrain":[52,119,128,176],"information":[53,152,178],"into":[54,127],"the":[55,94,97,105,115,118,139,193,197],"phase.":[57],"The":[58,89],"first":[59],"step":[60,91,166],"consists":[61],"of":[62,100,107,196],"predicting":[63],"slip":[65,77,109,124],"speed":[68,126],"using":[69],"orbital":[70],"data.":[71],"When":[72],"tested":[73,198],"data,":[76],"ranges":[78],"predicted":[80,136],"an":[82,168],"expected":[83,108,194],"velocity":[84],"map":[85,106,140,148],"successfully":[87],"drawn.":[88],"second":[90],"involves":[92],"traverse":[95],"for":[96],"driving":[98],"objective":[99],"sol,":[102],"based":[103],"speed.":[112],"While":[113],"driving,":[114],"monitors":[117],"converting":[121],"wheel":[123],"information,":[129],"projected":[130],"forward":[131],"confirm":[133,162],"or":[134],"refute":[135],"behavior,":[137],"update":[138,183],"replan":[142,185],"if":[143,186],"necessary.":[144,187],"Simulation":[145],"showed":[146,189],"successful":[147],"updates":[149],"given":[150],"new":[151],"replanning":[154],"when":[155],"needed.":[156],"If":[157],"monitoring":[158],"insufficient":[160],"traversability,":[163],"third":[165],"describes":[167],"instrument":[169],"would":[170],"be":[171],"deployed":[172],"compute":[174],"intrinsic":[175],"parameters,":[177],"then":[179],"propagated":[180],"ahead":[181],"Experiments":[188],"results":[190],"close":[191],"parameters":[195],"soils.":[199]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
