{"id":"https://openalex.org/W3193135535","doi":"https://doi.org/10.1080/01691864.2021.1959396","title":"Energy-aware trajectory planning for planetary rovers","display_name":"Energy-aware trajectory planning for planetary rovers","publication_year":2021,"publication_date":"2021-08-02","ids":{"openalex":"https://openalex.org/W3193135535","doi":"https://doi.org/10.1080/01691864.2021.1959396","mag":"3193135535"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2021.1959396","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1959396","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2021.1959396?needAccess=true","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":true,"oa_status":"bronze","oa_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2021.1959396?needAccess=true","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036385348","display_name":"Go Sakayori","orcid":"https://orcid.org/0000-0002-7037-4281"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"G. Sakayori","raw_affiliation_strings":["Graduate School of Science and Technology, Keio University, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7037-4281","affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018788822","display_name":"Genya Ishigami","orcid":"https://orcid.org/0000-0003-2107-3471"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. Ishigami","raw_affiliation_strings":["Department of Mechanical Engineering, Keio University, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2107-3471","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036385348"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.8496,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.69780254,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"35","issue":"21-22","first_page":"1302","last_page":"1316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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":0.9987000226974487,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996999979019165,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7361500263214111},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7291733622550964},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5626897811889648},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"Planetary exploration","score":0.5536532998085022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5504900813102722},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5310946702957153},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.47454962134361267},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.455477237701416},{"id":"https://openalex.org/keywords/solar-power","display_name":"Solar power","score":0.42847323417663574},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41891908645629883},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40505707263946533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26703935861587524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22265559434890747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2072552740573883},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.1309988796710968},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.09418925642967224},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07577663660049438},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06572788953781128}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7361500263214111},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7291733622550964},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5626897811889648},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.5536532998085022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5504900813102722},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5310946702957153},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.47454962134361267},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.455477237701416},{"id":"https://openalex.org/C2777618391","wikidata":"https://www.wikidata.org/wiki/Q1483757","display_name":"Solar power","level":3,"score":0.42847323417663574},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41891908645629883},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40505707263946533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26703935861587524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22265559434890747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2072552740573883},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.1309988796710968},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.09418925642967224},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07577663660049438},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06572788953781128},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2021.1959396","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1959396","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2021.1959396?needAccess=true","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":{"id":"doi:10.1080/01691864.2021.1959396","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1959396","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2021.1959396?needAccess=true","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"},"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3193135535.pdf","grobid_xml":"https://content.openalex.org/works/W3193135535.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1591383475","https://openalex.org/W2071413640","https://openalex.org/W2076864989","https://openalex.org/W2116839299","https://openalex.org/W2131288186","https://openalex.org/W2133833812","https://openalex.org/W2163411428","https://openalex.org/W2289628916","https://openalex.org/W2506544112","https://openalex.org/W2738578044","https://openalex.org/W2913921102","https://openalex.org/W2957761226","https://openalex.org/W3008146938","https://openalex.org/W3081370765","https://openalex.org/W4214587036","https://openalex.org/W4239416208","https://openalex.org/W4285502049"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W4285089922","https://openalex.org/W2136213179","https://openalex.org/W3132129980","https://openalex.org/W2545128643","https://openalex.org/W2153137868","https://openalex.org/W296739210","https://openalex.org/W1984674733","https://openalex.org/W2017872311","https://openalex.org/W1569905401"],"abstract_inverted_index":{"Planetary":[0],"rovers":[1],"are":[2],"becoming":[3],"indispensable":[4],"for":[5,40],"exploration":[6],"activities":[7],"and":[8,27,50,117],"science":[9],"missions.":[10],"The":[11,56,82,99],"rover":[12,43,93],"used":[13],"in":[14,20,74,110],"such":[15],"mission":[16],"is":[17,44,59,94],"often":[18],"limited":[19],"its":[21],"operation":[22],"time":[23],"owing":[24],"to":[25],"power":[26,72,83],"computational":[28],"resources":[29],"of":[30,53,65,79,85,105],"the":[31,54,66,71,80,86,92,103,106,122],"rover.":[32,55,81],"In":[33],"this":[34],"paper,":[35],"a":[36,41,62],"trajectory":[37],"planning":[38],"method":[39],"planetary":[42],"proposed":[45,107],"that":[46,121],"considers":[47],"vehicle":[48,57],"dynamics,":[49],"energy":[51,123],"management":[52],"dynamics":[58],"approximated":[60],"from":[61],"dynamic":[63],"simulation":[64,100],"rover,":[67],"which":[68],"can":[69],"estimate":[70],"consumption":[73],"accordance":[75],"with":[76],"terrain":[77],"traversability":[78],"generation":[84],"solar":[87],"array":[88],"panel":[89],"mounted":[90],"on":[91],"also":[95],"taken":[96],"into":[97],"account.":[98],"study":[101],"confirmed":[102],"usefulness":[104],"method,":[108],"especially":[109],"scenarios":[111],"where":[112],"slopes":[113],"could":[114,125],"be":[115,126],"observed,":[116],"one":[118],"result":[119],"indicated":[120],"margin":[124],"improved":[127],"by":[128],"4.1":[129],"kJ,":[130],"13.9%":[131],"at":[132],"maximum.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}