{"id":"https://openalex.org/W4205160626","doi":"https://doi.org/10.1109/access.2021.3139438","title":"Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles","display_name":"Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles","publication_year":2021,"publication_date":"2021-12-30","ids":{"openalex":"https://openalex.org/W4205160626","doi":"https://doi.org/10.1109/access.2021.3139438"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3139438","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3139438","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09665773.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09665773.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062269447","display_name":"Vignesh Sushrutha Raghavan","orcid":"https://orcid.org/0000-0003-1221-9504"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Vignesh Sushrutha Raghavan","raw_affiliation_strings":["Department of Information Engineering, University of Pisa, Pisa, Italy","Humanoids and Human-Centered Mechatronics (HHCM) Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]},{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics (HHCM) Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048122691","display_name":"Dimitrios Kanoulas","orcid":"https://orcid.org/0000-0002-3684-1472"},"institutions":[{"id":"https://openalex.org/I4210144746","display_name":"The London College","ror":"https://ror.org/0546ajs61","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210144746"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dimitrios Kanoulas","raw_affiliation_strings":["Department of Computer Science, University College London (UCL), London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London (UCL), London, U.K","institution_ids":["https://openalex.org/I4210144746","https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics (HHCM) Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics (HHCM) Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062269447"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I30771326"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.1652,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81240911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"2429","last_page":"2445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6732523441314697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6428142189979553},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6245124936103821},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.599676787853241},{"id":"https://openalex.org/keywords/reconfigurability","display_name":"Reconfigurability","score":0.5924497246742249},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5645254254341125},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5619248747825623},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5295449495315552},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4783684313297272},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46328702569007874},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4214099645614624},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41164731979370117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32375165820121765}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6732523441314697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6428142189979553},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6245124936103821},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.599676787853241},{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.5924497246742249},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5645254254341125},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5619248747825623},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5295449495315552},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4783684313297272},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46328702569007874},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4214099645614624},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41164731979370117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32375165820121765},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2021.3139438","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3139438","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09665773.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1300309","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1300309","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"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":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:a5fb231f877648b699298713c2f4b0cd","is_oa":true,"landing_page_url":"https://doaj.org/article/a5fb231f877648b699298713c2f4b0cd","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 2429-2445 (2022)","raw_type":"article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10141360","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10141360/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"   IEEE Access       (2021)     (In press).  ","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3139438","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3139438","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09665773.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7198314622","display_name":null,"funder_award_id":"644839","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4205160626.pdf","grobid_xml":"https://content.openalex.org/works/W4205160626.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1622225657","https://openalex.org/W1969483458","https://openalex.org/W1972267259","https://openalex.org/W1975023795","https://openalex.org/W1981344381","https://openalex.org/W1983855471","https://openalex.org/W1986833558","https://openalex.org/W1989604857","https://openalex.org/W2043389781","https://openalex.org/W2099081113","https://openalex.org/W2099893201","https://openalex.org/W2128990851","https://openalex.org/W2133844819","https://openalex.org/W2137496616","https://openalex.org/W2140291705","https://openalex.org/W2141664020","https://openalex.org/W2163829685","https://openalex.org/W2169528473","https://openalex.org/W2540258482","https://openalex.org/W2559463920","https://openalex.org/W2784148011","https://openalex.org/W2885205665","https://openalex.org/W2890831342","https://openalex.org/W2912365230","https://openalex.org/W2913995178","https://openalex.org/W2949209865","https://openalex.org/W2950546634","https://openalex.org/W2986717012","https://openalex.org/W2997051667","https://openalex.org/W3003223044","https://openalex.org/W3012463097","https://openalex.org/W3034811151","https://openalex.org/W3048359124","https://openalex.org/W3091308832","https://openalex.org/W3101175487","https://openalex.org/W3102734218","https://openalex.org/W3132058511","https://openalex.org/W4236251699","https://openalex.org/W4293584584","https://openalex.org/W4312770775","https://openalex.org/W6605295560","https://openalex.org/W6679896305","https://openalex.org/W6750227808","https://openalex.org/W6847755903"],"related_works":["https://openalex.org/W1544665014","https://openalex.org/W2748364266","https://openalex.org/W4243861219","https://openalex.org/W2556374054","https://openalex.org/W2069545207","https://openalex.org/W2092579166","https://openalex.org/W266222987","https://openalex.org/W4285102152","https://openalex.org/W3139820740","https://openalex.org/W2793035520"],"abstract_inverted_index":{"Legged":[0],"and":[1,27,122,182,217,227],"wheeled":[2],"locomotion":[3,21],"are":[4,48],"two":[5,82],"standard":[6],"methods":[7],"used":[8],"by":[9,50,136,208,221],"robots":[10],"to":[11,16,34,93,174,194],"perform":[12],"navigation.":[13],"Combining":[14],"them":[15,135],"create":[17],"a":[18,36,51,195,231],"hybrid":[19,243],"legged-wheeled":[20,74,242],"results":[22],"in":[23,62],"increased":[24],"speed,":[25],"agility,":[26],"reconfigurability":[28],"for":[29,55,240],"the":[30,81,86,90,95,106,109,128,157,162,169,186,205,209,211,213,222,225,235,241],"robot,":[31,210],"allowing":[32],"it":[33],"traverse":[35],"multitude":[37],"of":[38,89,98,130,143,159,168,179,198,234],"environments.":[39,64],"The":[40,124,140,166],"CENTAURO":[41,244],"robot":[42,107],"has":[43],"these":[44],"advantages,":[45],"but":[46],"they":[47],"accompanied":[49],"higher-dimensional":[52],"search":[53,96],"space":[54,97],"formulating":[56],"autonomous":[57],"economical":[58],"motion":[59],"plans,":[60],"especially":[61],"cluttered":[63],"In":[65],"this":[66,144],"article,":[67],"we":[68],"first":[69],"review":[70],"our":[71,147,191],"previously":[72,187],"presented":[73],"footprint":[75],"reconfiguring":[76],"global":[77,192,228],"planner.":[78],"We":[79],"describe":[80],"incremental":[83],"prototypes,":[84],"where":[85],"primary":[87],"goal":[88,167],"algorithms":[91],"is":[92,173,201,215],"reduce":[94],"possible":[99],"footprints":[100],"such":[101],"that":[102,104],"plans":[103],"expand":[105],"over":[108,138],"low-lying":[110],"wide":[111],"obstacles":[112,132],"or":[113],"narrow":[114],"into":[115],"passages":[116],"can":[117,164],"be":[118],"computed":[119],"with":[120],"speed":[121],"efficiency.":[123],"planner":[125,163],"also":[126],"considers":[127],"cost":[129],"avoiding":[131],"versus":[133],"negotiating":[134],"expanding":[137],"them.":[139],"second":[141],"part":[142,233],"article":[145],"presents":[146],"new":[148,170],"work":[149],"on":[150],"local":[151,171,226],"obstacle":[152,178],"pushing,":[153],"which":[154],"further":[155],"increases":[156],"number":[158],"tight":[160],"scenarios":[161],"solve.":[165],"push-planner":[172],"place":[175],"any":[176],"movable":[177],"unknown":[180],"mass":[181],"inertial":[183],"properties,":[184],"obstructing":[185],"planned":[188],"trajectory":[189],"from":[190],"planner,":[193],"location":[196],"devoid":[197],"obstruction.":[199],"This":[200],"done":[202],"while":[203],"minimising":[204],"distance":[206,212],"traveled":[207],"object":[214],"pushed,":[216],"its":[218],"rotation":[219],"caused":[220],"push.":[223],"Together,":[224],"planners":[229],"form":[230],"major":[232],"agile":[236],"reconfigurable":[237],"navigation":[238],"suite":[239],"robot.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
