{"id":"https://openalex.org/W2125035363","doi":"https://doi.org/10.1109/icra.2013.6631372","title":"Hierarchical rough terrain motion planning using an optimal sampling-based method","display_name":"Hierarchical rough terrain motion planning using an optimal sampling-based method","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2125035363","doi":"https://doi.org/10.1109/icra.2013.6631372","mag":"2125035363"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5009354661","display_name":"Michael Brunner","orcid":"https://orcid.org/0000-0001-7917-0333"},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4923324","display_name":"Fraunhofer-Gesellschaft","ror":"https://ror.org/05hkkdn48","country_code":"DE","type":"government","lineage":["https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Brunner","raw_affiliation_strings":["Fraunhofer Institute for Communication Information Processing, Ergonomics FKIE, Wachtberg, Germany","Fraunhofer Inst. for Commun., Inf. Process. & Ergonomics (FKIE), Wachtberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Communication Information Processing, Ergonomics FKIE, Wachtberg, Germany","institution_ids":["https://openalex.org/I4210166245"]},{"raw_affiliation_string":"Fraunhofer Inst. for Commun., Inf. Process. & Ergonomics (FKIE), Wachtberg, Germany","institution_ids":["https://openalex.org/I4923324"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017654092","display_name":"Bernd Br\u00fcggemann","orcid":"https://orcid.org/0000-0003-2059-7249"},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4923324","display_name":"Fraunhofer-Gesellschaft","ror":"https://ror.org/05hkkdn48","country_code":"DE","type":"government","lineage":["https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernd Bruggemann","raw_affiliation_strings":["Fraunhofer Institute for Communication Information Processing, Ergonomics FKIE, Wachtberg, Germany","Fraunhofer Inst. for Commun., Inf. Process. & Ergonomics (FKIE), Wachtberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Communication Information Processing, Ergonomics FKIE, Wachtberg, Germany","institution_ids":["https://openalex.org/I4210166245"]},{"raw_affiliation_string":"Fraunhofer Inst. for Commun., Inf. Process. & Ergonomics (FKIE), Wachtberg, Germany","institution_ids":["https://openalex.org/I4923324"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089014753","display_name":"Dirk Schulz","orcid":"https://orcid.org/0000-0002-6240-9181"},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I4923324","display_name":"Fraunhofer-Gesellschaft","ror":"https://ror.org/05hkkdn48","country_code":"DE","type":"government","lineage":["https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Schulz","raw_affiliation_strings":["Fraunhofer Institute for Communication Information Processing, Ergonomics FKIE, Wachtberg, Germany","Fraunhofer Inst. for Commun., Inf. Process. & Ergonomics (FKIE), Wachtberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Communication Information Processing, Ergonomics FKIE, Wachtberg, Germany","institution_ids":["https://openalex.org/I4210166245"]},{"raw_affiliation_string":"Fraunhofer Inst. for Commun., Inf. Process. & Ergonomics (FKIE), Wachtberg, Germany","institution_ids":["https://openalex.org/I4923324"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5539","last_page":"5544"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9977999925613403,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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/traverse","display_name":"Traverse","score":0.7980606555938721},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7542728185653687},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7437693476676941},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7170815467834473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6139571666717529},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5450937151908875},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5117459297180176},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48932451009750366},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.47551780939102173},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.444520503282547},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.43495744466781616},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.424740731716156},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.346713662147522},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17408618330955505},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08971372246742249}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7980606555938721},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7542728185653687},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7437693476676941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7170815467834473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6139571666717529},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5450937151908875},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5117459297180176},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48932451009750366},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.47551780939102173},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.444520503282547},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.43495744466781616},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.424740731716156},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.346713662147522},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17408618330955505},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08971372246742249},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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":2,"locations":[{"id":"doi:10.1109/icra.2013.6631372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/380431","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/380431","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1963733950","https://openalex.org/W1971086298","https://openalex.org/W1973546417","https://openalex.org/W2034801091","https://openalex.org/W2040728466","https://openalex.org/W2072748435","https://openalex.org/W2124455817","https://openalex.org/W2129298951","https://openalex.org/W2134176008","https://openalex.org/W2138313736","https://openalex.org/W2149317166","https://openalex.org/W2154139861","https://openalex.org/W2156037610","https://openalex.org/W2395101527","https://openalex.org/W3147363384","https://openalex.org/W3205474731","https://openalex.org/W6668923027","https://openalex.org/W6712287191"],"related_works":["https://openalex.org/W3174027453","https://openalex.org/W2065470608","https://openalex.org/W2117893626","https://openalex.org/W1488897159","https://openalex.org/W1979426194","https://openalex.org/W341083634","https://openalex.org/W257921636","https://openalex.org/W1915628803","https://openalex.org/W2006593306","https://openalex.org/W2163364317"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"with":[2,12],"reconfigurable":[3,60],"chassis":[4],"are":[5],"able":[6],"to":[7,76,104,142,158],"traverse":[8],"unstructured":[9,151],"outdoor":[10],"environments":[11],"boulders":[13],"or":[14,25,130],"rubble,":[15],"and":[16,31],"overcome":[17],"challenging":[18,43],"structures":[19],"in":[20,45,82,109,161,165],"urban":[21,143],"environments,":[22],"like":[23,145],"stairs":[24],"steps.":[26],"Autonomously":[27],"traversing":[28],"rough":[29,150],"terrain":[30],"such":[32,166],"obstacles":[33],"while":[34],"ensuring":[35],"the":[36,39,66,89,95,106,110,116,119],"safety":[37],"of":[38,68,94,118],"robot":[40],"is":[41],"a":[42,53,69,73,83,126],"task":[44],"mobile":[46],"robotics.":[47],"In":[48],"this":[49,101],"paper":[50],"we":[51],"introduce":[52],"two-phase":[54],"motion":[55,134],"planning":[56,163],"algorithm":[57],"for":[58],"actively":[59],"tracked":[61],"robots.":[62],"We":[63,98,121],"first":[64],"use":[65,131],"completeness":[67],"graph":[70],"search":[71,108],"on":[72,125],"regular":[74],"grid":[75],"quickly":[77],"find":[78],"an":[79],"initial":[80,102],"path":[81,103],"low":[84],"dimensional":[85],"space,":[86],"considering":[87],"only":[88],"platform's":[90],"operating":[91],"limits":[92],"instead":[93],"complete":[96],"state.":[97],"then":[99],"take":[100],"focus":[105],"RRT*":[107],"continuous":[111],"high-dimensional":[112],"state":[113],"space":[114],"including":[115],"actuators":[117],"robot.":[120],"do":[122],"not":[123],"rely":[124],"detailed":[127],"structure/terrain":[128],"classification":[129],"any":[132],"predefined":[133],"sequences.":[135],"Hence,":[136],"our":[137,156],"planner":[138],"can":[139],"be":[140,159],"applied":[141],"structures,":[144],"stairs,":[146],"as":[147,149],"well":[148],"environments.":[152,167],"Simulation":[153],"results":[154],"prove":[155],"method":[157],"effective":[160],"solving":[162],"queries":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}