{"id":"https://openalex.org/W3037880657","doi":"https://doi.org/10.1109/case48305.2020.9216764","title":"A Hierarchical Framework for Long-term and Robust Deployment of Field Ground Robots in Large-Scale Farming","display_name":"A Hierarchical Framework for Long-term and Robust Deployment of Field Ground Robots in Large-Scale Farming","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3037880657","doi":"https://doi.org/10.1109/case48305.2020.9216764","mag":"3037880657"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9216764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216764","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 Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2006.13413","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016368979","display_name":"Stuart Eiffert","orcid":"https://orcid.org/0000-0002-2157-2724"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stuart Eiffert","raw_affiliation_strings":["The University of Sydney, Australia","The University of Sydney, Australia NSW 2006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]},{"raw_affiliation_string":"The University of Sydney, Australia NSW 2006","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056914630","display_name":"Nathan Wallace","orcid":"https://orcid.org/0000-0001-6530-9138"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Nathan D. Wallace","raw_affiliation_strings":["The University of Sydney, Australia","The University of Sydney, Australia NSW 2006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]},{"raw_affiliation_string":"The University of Sydney, Australia NSW 2006","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032411105","display_name":"He Kong","orcid":"https://orcid.org/0000-0002-1382-4186"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"He Kong","raw_affiliation_strings":["The University of Sydney, Australia","University of Sydney"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]},{"raw_affiliation_string":"University of Sydney","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022836011","display_name":"Navid Pirmarzdashti","orcid":null},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Navid Pirmarzdashti","raw_affiliation_strings":["The University of Sydney, Australia","The University of Sydney, Australia NSW 2006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]},{"raw_affiliation_string":"The University of Sydney, Australia NSW 2006","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004268965","display_name":"Salah Sukkarieh","orcid":"https://orcid.org/0000-0003-1173-9268"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Salah Sukkarieh","raw_affiliation_strings":["The University of Sydney, Australia","The University of Sydney, Australia NSW 2006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]},{"raw_affiliation_string":"The University of Sydney, Australia NSW 2006","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I129604602"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"948","last_page":"954"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/motion-planning","display_name":"Motion planning","score":0.7716227769851685},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6755164861679077},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6596644520759583},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6084070801734924},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5848307013511658},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5292320251464844},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.5166226029396057},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5008299350738525},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4576626420021057},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.45091021060943604},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.4435290992259979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28106552362442017},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.17153650522232056},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12255918979644775}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7716227769851685},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6755164861679077},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6596644520759583},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6084070801734924},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5848307013511658},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5292320251464844},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.5166226029396057},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5008299350738525},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4576626420021057},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.45091021060943604},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.4435290992259979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28106552362442017},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.17153650522232056},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12255918979644775},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/case48305.2020.9216764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216764","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 Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2006.13413","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.13413","pdf_url":"https://arxiv.org/pdf/2006.13413","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3037880657","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2006.13413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2006.13413","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2006.13413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2006.13413","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.13413","pdf_url":"https://arxiv.org/pdf/2006.13413","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3037880657.pdf","grobid_xml":"https://content.openalex.org/works/W3037880657.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1608481154","https://openalex.org/W1963649406","https://openalex.org/W2002440441","https://openalex.org/W2021246046","https://openalex.org/W2027698629","https://openalex.org/W2072956256","https://openalex.org/W2117211893","https://openalex.org/W2118555996","https://openalex.org/W2132360065","https://openalex.org/W2133844819","https://openalex.org/W2150010456","https://openalex.org/W2192586580","https://openalex.org/W2418877712","https://openalex.org/W2558551879","https://openalex.org/W2587537338","https://openalex.org/W2764039295","https://openalex.org/W2783963507","https://openalex.org/W2800978878","https://openalex.org/W2890073142","https://openalex.org/W2964319688","https://openalex.org/W2966934151","https://openalex.org/W2969811230","https://openalex.org/W2972131019","https://openalex.org/W2976074605","https://openalex.org/W2990464486","https://openalex.org/W2990594523","https://openalex.org/W2996287921","https://openalex.org/W2997774515","https://openalex.org/W3090725241","https://openalex.org/W3092056974","https://openalex.org/W3106250896","https://openalex.org/W6655737426","https://openalex.org/W6767313302","https://openalex.org/W6767664646","https://openalex.org/W6784244982","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W3183170778","https://openalex.org/W269697800","https://openalex.org/W3093787834","https://openalex.org/W2887590164","https://openalex.org/W3173423885","https://openalex.org/W1577854728","https://openalex.org/W2286794292","https://openalex.org/W2958046485","https://openalex.org/W2980501914","https://openalex.org/W2895642847","https://openalex.org/W2917614406","https://openalex.org/W2887546333","https://openalex.org/W2626856151","https://openalex.org/W3130229213","https://openalex.org/W3110583263","https://openalex.org/W2889855786","https://openalex.org/W305502212","https://openalex.org/W3037590229","https://openalex.org/W2908970796","https://openalex.org/W2327882855"],"abstract_inverted_index":{"Achieving":[0],"long":[1,186],"term":[2,91,187],"autonomy":[3],"of":[4,37,107,193],"robots":[5],"operating":[6],"in":[7,34,59,63,130,158,190],"dynamic":[8,85,105,131,178],"environments":[9],"such":[10,30,40,169,202],"as":[11,31,41,170,203],"farms":[12],"remains":[13],"a":[14,54,78,83,89,151,177],"significant":[15],"challenge.":[16],"Arguably,":[17],"the":[18,26,35,104,111,143,156,191],"most":[19],"demanding":[20],"factors":[21],"to":[22,56,65,166,183],"achieve":[23,67,74],"this":[24,139],"are":[25],"on-board":[27],"resource":[28],"constraints":[29],"energy,":[32],"planning":[33,129],"presence":[36,192],"moving":[38,108,194],"individuals":[39,109,195],"livestock":[42],"and":[43,45,48,70,95,118,133,146,174,196],"people,":[44],"handling":[46],"unknown":[47],"undulating":[49],"terrain.":[50],"These":[51],"considerations":[52],"require":[53],"robot":[55],"be":[57],"adaptive":[58],"its":[60,148,181],"immediate":[61],"actions":[62],"order":[64],"successfully":[66],"long-term,":[68],"resource-efficient":[69],"robust":[71],"autonomy.":[72],"To":[73],"this,":[75],"we":[76,141],"propose":[77],"hierarchical":[79],"framework":[80,114,145],"that":[81],"integrates":[82],"local":[84],"path":[86,128],"planner":[87,94],"with":[88],"longer":[90],"objective":[92,164],"based":[93],"advanced":[96],"motion":[97,136],"control":[98],"methods,":[99],"whilst":[100],"taking":[101],"into":[102],"consideration":[103],"responses":[106],"within":[110],"environment.":[112],"The":[113],"is":[115],"motivated":[116],"by":[117],"synthesizes":[119],"our":[120],"recent":[121],"work":[122],"on":[123,150],"energy":[124],"aware":[125],"mission":[126,188],"planning,":[127],"environments,":[132],"receding":[134],"horizon":[135],"control.":[137],"In":[138],"paper":[140],"detail":[142],"proposed":[144],"outline":[147],"integration":[149],"robotic":[152],"platform.":[153],"We":[154],"evaluate":[155],"strategy":[157],"extensive":[159],"simulated":[160],"trials,":[161],"traversing":[162],"between":[163],"waypoints":[165],"complete":[167],"tasks":[168],"soil":[171],"sampling,":[172],"weeding":[173],"recharging":[175],"across":[176],"environment,":[179],"demonstrating":[180],"capability":[182],"robustly":[184],"adapt":[185],"plans":[189],"obstacles":[197],"for":[198],"real":[199],"world":[200],"applications":[201],"large":[204],"scale":[205],"farming.":[206]},"counts_by_year":[{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
