{"id":"https://openalex.org/W2545693528","doi":"https://doi.org/10.1109/ichr.2004.1442135","title":"A tiered planning strategy for biped navigation","display_name":"A tiered planning strategy for biped navigation","publication_year":2005,"publication_date":"2005-07-27","ids":{"openalex":"https://openalex.org/W2545693528","doi":"https://doi.org/10.1109/ichr.2004.1442135","mag":"2545693528"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2004.1442135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","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/A5059459603","display_name":"Joel Chestnutt","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Chestnutt","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, Pa, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, Pa, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"J.J. Kuffner","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"422","last_page":"436"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.996999979019165,"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/T12290","display_name":"Human Motion and Animation","score":0.9908999800682068,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.9142756462097168},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6960307359695435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.686184823513031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6737549304962158},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6542202234268188},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6347149014472961},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6288377642631531},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.601839005947113},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5509006381034851},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4421883523464203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41579973697662354},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3905886709690094},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08240178227424622},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07615482807159424}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.9142756462097168},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6960307359695435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.686184823513031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6737549304962158},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6542202234268188},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6347149014472961},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6288377642631531},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.601839005947113},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5509006381034851},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4421883523464203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41579973697662354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3905886709690094},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08240178227424622},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07615482807159424},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2004.1442135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1545656448","https://openalex.org/W1550098664","https://openalex.org/W1874049655","https://openalex.org/W1917860510","https://openalex.org/W1976792226","https://openalex.org/W1987852620","https://openalex.org/W2030021468","https://openalex.org/W2055422750","https://openalex.org/W2099144379","https://openalex.org/W2112070512","https://openalex.org/W2112808334","https://openalex.org/W2120526103","https://openalex.org/W2127895608","https://openalex.org/W2129209579","https://openalex.org/W2142992961","https://openalex.org/W2156423353","https://openalex.org/W2177981390","https://openalex.org/W2194910113","https://openalex.org/W2950977853","https://openalex.org/W4236251699","https://openalex.org/W4242811155","https://openalex.org/W4252510982","https://openalex.org/W6632693104","https://openalex.org/W6676972451","https://openalex.org/W6678790860","https://openalex.org/W6685569629"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2114709995","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,27,33,54,70,83,90],"three-tiered":[4],"planner":[5,35,77],"for":[6,21,42,115],"biped":[7],"navigation":[8],"over":[9,47],"large":[10],"distances":[11],"through":[12,44],"complex":[13],"environments":[14,130],"where":[15],"conventional":[16],"2D":[17],"planning":[18],"algorithms":[19],"designed":[20],"wheeled":[22],"robots":[23],"fail":[24],"to":[25,64,72,93,111],"find":[26],"solution.":[28],"The":[29,50,86],"lowest":[30,75],"tier":[31,52,88],"is":[32,53,123],"footstep":[34,113],"which":[36,58],"can":[37],"plan":[38],"sequences":[39,114],"of":[40,98,120],"footholds":[41,81],"navigating":[43],"obstacles":[45],"or":[46],"rough":[48],"terrain.":[49],"second":[51],"mobile":[55],"robot":[56,117],"planner,":[57],"plans":[59],"outward":[60],"from":[61],"the":[62,65,74,80,96,106,116],"goal":[63],"robot's":[66],"initial":[67],"state,":[68],"building":[69],"heuristic":[71],"aid":[73],"level":[76],"in":[78],"directing":[79],"toward":[82],"likely":[84],"path.":[85],"highest":[87],"chooses":[89],"long-term":[91],"path":[92],"follow,":[94],"ignoring":[95],"details":[97],"how":[99],"it":[100],"will":[101],"be":[102],"implemented,":[103],"and":[104,118,131],"directs":[105],"lower":[107],"levels":[108],"during":[109],"execution":[110],"provide":[112],"notification":[119],"when":[121],"re-planning":[122],"necessary.":[124],"Results":[125],"are":[126],"demonstrated":[127],"with":[128],"simulated":[129],"execution.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}