{"id":"https://openalex.org/W4414432567","doi":"https://doi.org/10.1109/case58245.2025.11164088","title":"Energy-Aware Planning for Delivery Tasks Executed by Legged Robots","display_name":"Energy-Aware Planning for Delivery Tasks Executed by Legged Robots","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414432567","doi":"https://doi.org/10.1109/case58245.2025.11164088"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11164088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101694256","display_name":"Shengqiang Chen","orcid":"https://orcid.org/0000-0002-6602-5767"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shengqiang Chen","raw_affiliation_strings":["University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102026597","display_name":"Yiyu Chen","orcid":"https://orcid.org/0000-0001-5651-0075"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiyu Chen","raw_affiliation_strings":["University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zishen Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zishen Wei","raw_affiliation_strings":["University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024050690","display_name":"Quan Nguyen","orcid":"https://orcid.org/0000-0001-8620-0561"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Quan Nguyen","raw_affiliation_strings":["University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083094281","display_name":"Satyandra K. Gupta","orcid":"https://orcid.org/0000-0002-6025-7903"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyandra K. Gupta","raw_affiliation_strings":["University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Department of Aerospace and Mechanical Engineering,Los Angeles,CA,90089","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1617","last_page":"1624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9940000176429749,"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/T12288","display_name":"Optimization and Search Problems","score":0.9726999998092651,"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":0.7217000126838684},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5504999756813049},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5443000197410583},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5364000201225281},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5076000094413757},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4765999913215637},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.47119998931884766},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.46219998598098755}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7217000126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5925999879837036},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5504999756813049},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5443000197410583},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5364000201225281},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5076000094413757},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4765999913215637},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.47119998931884766},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.46219998598098755},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45680001378059387},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4327000081539154},{"id":"https://openalex.org/C3017985614","wikidata":"https://www.wikidata.org/wiki/Q149377","display_name":"Operation planning","level":2,"score":0.4124000072479248},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41019999980926514},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.3707999885082245},{"id":"https://openalex.org/C45882903","wikidata":"https://www.wikidata.org/wiki/Q5042317","display_name":"Fuel efficiency","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.3513000011444092},{"id":"https://openalex.org/C2776190866","wikidata":"https://www.wikidata.org/wiki/Q1341477","display_name":"Energy supply","level":3,"score":0.34150001406669617},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32690000534057617},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.32120001316070557},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3100000023841858},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.304500013589859},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2937999963760376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27709999680519104},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2718000113964081}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11164088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164088","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Legged":[0,11],"robots":[1,12],"can":[2],"significantly":[3],"increase":[4],"human":[5,39],"productivity":[6],"by":[7],"performing":[8],"delivery":[9,131,148],"tasks.":[10],"cannot":[13],"be":[14],"tethered":[15],"to":[16,56,81,101,119,128],"power":[17],"sources":[18],"when":[19],"operating":[20],"in":[21,42,59,111],"large":[22],"outdoor":[23],"environments.":[24],"If":[25],"a":[26,34,142],"robot":[27],"runs":[28],"out":[29],"of":[30,137],"energy":[31,73],"while":[32,115],"executing":[33],"task,":[35],"it":[36],"will":[37],"require":[38],"intervention,":[40],"resulting":[41],"delays.":[43],"On":[44],"the":[45,99,103,112,121,126,130,135],"other":[46],"hand,":[47],"frequent":[48],"battery":[49,78,96],"recharging":[50],"or":[51],"replacement":[52,79,97],"could":[53],"also":[54],"lead":[55],"significant":[57],"delays":[58],"task":[60],"completion.":[61],"This":[62],"paper":[63],"presents":[64],"an":[65],"energy-aware":[66],"hierarchical":[67],"planning":[68,139],"approach":[69,140],"that":[70,83,124],"accounts":[71],"for":[72,94],"consumption":[74],"and":[75,108,147],"integrates":[76],"appropriate":[77],"strategies":[80],"ensure":[82],"tasks":[84,149],"are":[85],"completed":[86],"efficiently.":[87],"Our":[88],"algorithm":[89],"generates":[90],"graph":[91,117],"search":[92,118],"instances":[93],"varying":[95,145],"actions,":[98],"option":[100],"split":[102],"payload":[104],"into":[105],"smaller":[106],"portions,":[107],"reducing":[109],"speed":[110],"first":[113],"level,":[114],"running":[116],"determine":[120],"optimal":[122],"plan":[123],"minimizes":[125],"time":[127],"complete":[129],"task.":[132],"We":[133],"illustrate":[134],"effectiveness":[136],"our":[138],"on":[141],"terrain":[143],"with":[144,150],"slopes":[146],"different":[151],"requirements.":[152]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
