{"id":"https://openalex.org/W3103926914","doi":"https://doi.org/10.1109/amc44022.2020.9244366","title":"Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion","display_name":"Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3103926914","doi":"https://doi.org/10.1109/amc44022.2020.9244366","mag":"3103926914"},"language":"en","primary_location":{"id":"doi:10.1109/amc44022.2020.9244366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/10037/31279","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044285762","display_name":"Kristian G. Hanssen","orcid":"https://orcid.org/0009-0008-4608-041X"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]},{"id":"https://openalex.org/I4387930215","display_name":"SINTEF Digital","ror":"https://ror.org/028m52w57","country_code":null,"type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I4387930215"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kristian G. Hanssen","raw_affiliation_strings":["Dept. Mathematics and Cybernetics, Sintef Digital, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Mathematics and Cybernetics, Sintef Digital, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879","https://openalex.org/I4387930215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073872424","display_name":"Aksel A. Transeth","orcid":"https://orcid.org/0009-0007-9440-8515"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]},{"id":"https://openalex.org/I4387930215","display_name":"SINTEF Digital","ror":"https://ror.org/028m52w57","country_code":null,"type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I4387930215"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Aksel A. Transeth","raw_affiliation_strings":["Dept. Mathematics and Cybernetics, Sintef Digital, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Mathematics and Cybernetics, Sintef Digital, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879","https://openalex.org/I4387930215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087578160","display_name":"Filippo Sanfilippo","orcid":"https://orcid.org/0000-0002-1437-8368"},"institutions":[{"id":"https://openalex.org/I200650556","display_name":"University of Agder","ror":"https://ror.org/03x297z98","country_code":"NO","type":"education","lineage":["https://openalex.org/I200650556"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Filippo Sanfilippo","raw_affiliation_strings":["Dept. of Engineering Sciences, University of Agder (UiA), Grimstad, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Sciences, University of Agder (UiA), Grimstad, Norway","institution_ids":["https://openalex.org/I200650556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029922227","display_name":"P\u00e5l Liljeb\u00e4ck","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105718","display_name":"Trondheim Kommune","ror":"https://ror.org/01gjtys23","country_code":"NO","type":"government","lineage":["https://openalex.org/I4210105718"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Pal Liljeback","raw_affiliation_strings":["Eelume AS, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eelume AS, Trondheim, Norway","institution_ids":["https://openalex.org/I4210105718"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056959397","display_name":"\u00d8yvind Stavdahl","orcid":"https://orcid.org/0000-0003-0212-3146"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Oyvind Stavdahl","raw_affiliation_strings":["Dept. of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7063,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.91081888,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"98","last_page":"104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"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/motion-planning","display_name":"Motion planning","score":0.7991167306900024},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.776850700378418},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6609481573104858},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6494713425636292},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6136829257011414},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5425825715065002},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5242096185684204},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.5036665797233582},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.49890589714050293},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4980463981628418},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4382270574569702},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4196758270263672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41732552647590637},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3953796923160553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.343383252620697},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3255203366279602},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3089601993560791},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06727978587150574}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7991167306900024},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.776850700378418},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6609481573104858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6494713425636292},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6136829257011414},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5425825715065002},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5242096185684204},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.5036665797233582},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.49890589714050293},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4980463981628418},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4382270574569702},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4196758270263672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41732552647590637},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3953796923160553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.343383252620697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3255203366279602},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3089601993560791},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06727978587150574},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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":5,"locations":[{"id":"doi:10.1109/amc44022.2020.9244366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:munin.uit.no:10037/31279","is_oa":true,"landing_page_url":"https://hdl.handle.net/10037/31279","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},{"id":"pmh:oai:ntnuopen.ntnu.no:11250/2729062","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/2729062","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"98-104","raw_type":"info:eu-repo/semantics/bookPart"},{"id":"pmh:oai:sintef.brage.unit.no:11250/3066493","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3066493","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"98-104","raw_type":"info:eu-repo/semantics/bookPart"},{"id":"pmh:oai:uia.brage.unit.no:11250/3151682","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3151682","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"98-104","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:munin.uit.no:10037/31279","is_oa":true,"landing_page_url":"https://hdl.handle.net/10037/31279","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5518933843","display_name":null,"funder_award_id":"240072","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1985000820","https://openalex.org/W2051077118","https://openalex.org/W2093720436","https://openalex.org/W2099428832","https://openalex.org/W2113187663","https://openalex.org/W2123871098","https://openalex.org/W2135602838","https://openalex.org/W2138939375","https://openalex.org/W2150982344","https://openalex.org/W2410605974","https://openalex.org/W2592790044","https://openalex.org/W2602945460","https://openalex.org/W2888671715","https://openalex.org/W2904573967","https://openalex.org/W6682517698"],"related_works":["https://openalex.org/W2766493616","https://openalex.org/W4288391438","https://openalex.org/W2147396393","https://openalex.org/W1753057598","https://openalex.org/W2390901339","https://openalex.org/W1529218112","https://openalex.org/W3180450194","https://openalex.org/W2291700020","https://openalex.org/W2169629082","https://openalex.org/W2997199187"],"abstract_inverted_index":{"Development":[0],"of":[1,10,93,104,159,167,191,220,225],"snake":[2,21,57,79,161,226],"robots":[3,36,58],"have":[4],"been":[5],"motivated":[6],"by":[7,154,197],"the":[8,24,75,78,115,119,125,160,163,168,180,183,189,213,221],"ability":[9],"snakes":[11],"to":[12,26,34,40,70,172,218],"move":[13,41],"efficiently":[14,42],"in":[15,32,43,67,74,207,229],"unstructured":[16,230],"and":[17,99,113,124,142,176,231],"cluttered":[18],"environments.":[19,233],"A":[20],"robot":[22,80],"has":[23],"potential":[25],"utilise":[27],"obstacles":[28],"for":[29,56,83,95,179,185],"generating":[30],"locomotion,":[31],"contrast":[33],"wheeled":[35],"which":[37],"are":[38],"unable":[39],"rough":[44],"terrain.":[45],"In":[46],"this":[47,105,198],"paper,":[48],"we":[49],"propose":[50],"a":[51,91,97,101,134,145,155,208],"local":[52,110,214],"path":[53,111,130,210],"planning":[54,112,211],"algorithm":[55,139],"based":[59,89],"on":[60,90,109],"obstacle-aided":[61],"locomotion":[62],"(OAL).":[63],"An":[64],"essential":[65],"feature":[66],"OAL":[68],"is":[69,88,100,131,140,216],"determine":[71],"suitable":[72],"push-points":[73],"environment":[76],"that":[77],"can":[81,203],"use":[82,173,223],"locomotion.":[84],"The":[85,129,138,200],"proposed":[86,201],"method":[87],"set":[92,190],"criteria":[94,169,202],"evaluating":[96],"path,":[98],"novel":[102],"contribution":[103],"paper.":[106],"We":[107],"focus":[108,215],"formulate":[114],"problem":[116],"as":[117,133],"finding":[118],"best":[120],"next":[121],"push":[122],"point":[123],"trajectory":[126],"towards":[127],"it.":[128],"parameterised":[132],"quadratic":[135],"B\u00e9zier":[136],"curve.":[137],"implemented":[141],"tested":[143],"with":[144,151],"simulator,":[146],"employing":[147],"decentralised":[148],"joint":[149],"controllers":[150,178],"references":[152],"generated":[153],"constant":[156],"translation":[157],"speed":[158],"along":[162],"path.":[164],"Careful":[165],"design":[166],"allows":[170],"us":[171],"simple":[174],"position":[175],"velocity":[177],"joints,":[181],"circumventing":[182],"need":[184],"force":[186],"control.":[187],"However,":[188],"feasible":[192],"paths":[193],"will":[194],"be":[195,205],"restricted":[196],"approach.":[199],"also":[204],"used":[206],"global":[209],"algorithm;":[212],"due":[217],"one":[219],"key":[222],"cases":[224],"robots:":[227],"operating":[228],"unknown":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
