{"id":"https://openalex.org/W1990803481","doi":"https://doi.org/10.1109/70.313099","title":"Behavior control for robotic exploration of planetary surfaces","display_name":"Behavior control for robotic exploration of planetary surfaces","publication_year":1994,"publication_date":"1994-01-01","ids":{"openalex":"https://openalex.org/W1990803481","doi":"https://doi.org/10.1109/70.313099","mag":"1990803481"},"language":"en","primary_location":{"id":"doi:10.1109/70.313099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/70.313099","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics and Automation","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/A5026069468","display_name":"Erann Gat","orcid":null},"institutions":[{"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":true,"raw_author_name":"E. Gat","raw_affiliation_strings":["California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111984661","display_name":"Raj Desai","orcid":null},"institutions":[{"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":"R. Desai","raw_affiliation_strings":["California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069859827","display_name":"R. Ivlev","orcid":null},"institutions":[{"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":"R. Ivlev","raw_affiliation_strings":["California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079981026","display_name":"John L. Loch","orcid":null},"institutions":[{"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":"J. Loch","raw_affiliation_strings":["California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080262277","display_name":"David Miller","orcid":"https://orcid.org/0000-0003-2408-845X"},"institutions":[{"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"]},{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.P. Miller","raw_affiliation_strings":["California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA","Mitsubishi Electric Corporation Limited, McLean, VA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology and Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Mitsubishi Electric Corporation Limited, McLean, VA, USA","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026069468"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":23.5514,"has_fulltext":false,"cited_by_count":147,"citation_normalized_percentile":{"value":0.99778181,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"10","issue":"4","first_page":"490","last_page":"503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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":0.9977999925613403,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/robot","display_name":"Robot","score":0.7341905832290649},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7231284976005554},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6588051319122314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5595744252204895},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5434224605560303},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42949575185775757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4246473014354706},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09167900681495667}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7341905832290649},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7231284976005554},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6588051319122314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5595744252204895},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5434224605560303},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42949575185775757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4246473014354706},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09167900681495667},{"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:10.1109/70.313099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/70.313099","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W48808893","https://openalex.org/W92341453","https://openalex.org/W184814775","https://openalex.org/W1489495963","https://openalex.org/W1507570714","https://openalex.org/W1551095406","https://openalex.org/W1566011038","https://openalex.org/W1592377142","https://openalex.org/W1593217296","https://openalex.org/W1731490679","https://openalex.org/W1977519164","https://openalex.org/W2018698982","https://openalex.org/W2050797564","https://openalex.org/W2097856935","https://openalex.org/W2117569083","https://openalex.org/W2126290568","https://openalex.org/W2133217918","https://openalex.org/W2145929683","https://openalex.org/W2167459247","https://openalex.org/W6601982375","https://openalex.org/W6603733225","https://openalex.org/W6637501858"],"related_works":["https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W1886477626"],"abstract_inverted_index":{"This":[0],"paper":[1,85],"describes":[2],"a":[3,16,34,38,47,70],"series":[4],"of":[5,14,33,50,72,103],"robots":[6,22,54,81],"developed":[7],"at":[8],"JPL":[9],"to":[10,19,62],"demonstrate":[11],"the":[12],"feasibility":[13],"using":[15],"behavior-control":[17],"approach":[18],"control":[20,68,74],"small":[21,53,58],"on":[23,37],"planetary":[24,39],"surfaces.":[25],"The":[26,80],"round-trip":[27],"light-time":[28],"delay":[29],"makes":[30],"direct":[31],"teleoperation":[32],"mobile":[35],"robot":[36],"surface":[40],"impossible.":[41],"Planetary":[42],"rovers":[43],"must":[44],"therefore":[45],"possess":[46],"certain":[48],"degree":[49],"autonomy.":[51],"However,":[52],"can":[55],"only":[56],"support":[57],"computers":[59],"(due":[60],"mostly":[61],"power,":[63],"not":[64],"size":[65],"constraints).":[66],"Behavior":[67],"provides":[69],"means":[71],"autonomous":[73,116],"that":[75],"requires":[76],"very":[77],"little":[78,93],"computation.":[79],"described":[82],"in":[83,120],"this":[84],"all":[86],"used":[87],"8-bit,":[88],"1-MIP":[89],"microprocessors":[90],"with":[91],"as":[92,94],"4":[95],"k":[96,102],"and":[97,105,118,123],"no":[98],"more":[99],"than":[100],"40":[101],"memory,":[104],"extremely":[106],"simple":[107],"sensors.":[108],"Despite":[109],"these":[110],"limitations":[111],"they":[112],"reliably":[113],"perform":[114],"both":[115,121],"navigation":[117],"manipulation":[119],"indoor":[122],"outdoor":[124],"rough-terrain":[125],"environments.<":[126],"<ETX":[127],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[128],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>":[129]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}