{"id":"https://openalex.org/W2418484905","doi":"https://doi.org/10.1109/icra.2016.7487132","title":"Terrain contact modeling and classification for ATVs","display_name":"Terrain contact modeling and classification for ATVs","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2418484905","doi":"https://doi.org/10.1109/icra.2016.7487132","mag":"2418484905"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487132","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5039006047","display_name":"Mario Gianni","orcid":"https://orcid.org/0000-0001-5410-2377"},"institutions":[{"id":"https://openalex.org/I4210116399","display_name":"Labor (Italy)","ror":"https://ror.org/02gpdzc63","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210116399"]},{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Mario Gianni","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Sapienza University of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Sapienza University of Rome, Italy","institution_ids":["https://openalex.org/I861853513","https://openalex.org/I4210116399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028345730","display_name":"Manuel A. Ruiz Garcia","orcid":"https://orcid.org/0000-0001-8827-8469"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel A. Ruiz Garcia","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Universita degli Studi di Roma La Sapienza, Roma, Lazio, IT"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Universita degli Studi di Roma La Sapienza, Roma, Lazio, IT","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103473750","display_name":"Federico Ferri","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]},{"id":"https://openalex.org/I4210116399","display_name":"Labor (Italy)","ror":"https://ror.org/02gpdzc63","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210116399"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Ferri","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Sapienza University of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Sapienza University of Rome, Italy","institution_ids":["https://openalex.org/I861853513","https://openalex.org/I4210116399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016025950","display_name":"Fiora Pirri","orcid":"https://orcid.org/0000-0001-8665-9807"},"institutions":[{"id":"https://openalex.org/I4210116399","display_name":"Labor (Italy)","ror":"https://ror.org/02gpdzc63","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210116399"]},{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fiora Pirri","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Sapienza University of Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering, ALCOR Laboratory, Sapienza University of Rome, Italy","institution_ids":["https://openalex.org/I861853513","https://openalex.org/I4210116399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039006047"],"corresponding_institution_ids":["https://openalex.org/I4210116399","https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":0.8077,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76211315,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"16","issue":null,"first_page":"186","last_page":"192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9869999885559082,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9787999987602234,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/residual","display_name":"Residual","score":0.6723752021789551},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6606245040893555},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5967448353767395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5333507061004639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5305706858634949},{"id":"https://openalex.org/keywords/wavelet-packet-decomposition","display_name":"Wavelet packet decomposition","score":0.5220339298248291},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5022356510162354},{"id":"https://openalex.org/keywords/wavelet","display_name":"Wavelet","score":0.48247721791267395},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47073662281036377},{"id":"https://openalex.org/keywords/wavelet-transform","display_name":"Wavelet transform","score":0.4678901731967926},{"id":"https://openalex.org/keywords/feature-vector","display_name":"Feature vector","score":0.45838043093681335},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.44469642639160156},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4373196065425873},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4312905967235565},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35648342967033386},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.09848734736442566},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.091676265001297}],"concepts":[{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.6723752021789551},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6606245040893555},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5967448353767395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5333507061004639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5305706858634949},{"id":"https://openalex.org/C155777637","wikidata":"https://www.wikidata.org/wiki/Q2736187","display_name":"Wavelet packet decomposition","level":4,"score":0.5220339298248291},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5022356510162354},{"id":"https://openalex.org/C47432892","wikidata":"https://www.wikidata.org/wiki/Q831390","display_name":"Wavelet","level":2,"score":0.48247721791267395},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47073662281036377},{"id":"https://openalex.org/C196216189","wikidata":"https://www.wikidata.org/wiki/Q2867","display_name":"Wavelet transform","level":3,"score":0.4678901731967926},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.45838043093681335},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.44469642639160156},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4373196065425873},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4312905967235565},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35648342967033386},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.09848734736442566},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.091676265001297},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487132","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/923332","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/document/7487132/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W179492584","https://openalex.org/W421662763","https://openalex.org/W1486357714","https://openalex.org/W1508762313","https://openalex.org/W1510019349","https://openalex.org/W1606738297","https://openalex.org/W1973490308","https://openalex.org/W1997313699","https://openalex.org/W2025807726","https://openalex.org/W2040904925","https://openalex.org/W2043389781","https://openalex.org/W2053402094","https://openalex.org/W2064171812","https://openalex.org/W2082927964","https://openalex.org/W2090974678","https://openalex.org/W2099904692","https://openalex.org/W2124225314","https://openalex.org/W2130698119","https://openalex.org/W2131292439","https://openalex.org/W2132135113","https://openalex.org/W2134911466","https://openalex.org/W2144907335","https://openalex.org/W2150005359","https://openalex.org/W2154777391","https://openalex.org/W2156512439","https://openalex.org/W2159746877","https://openalex.org/W2161086413","https://openalex.org/W2164292377","https://openalex.org/W2198304949","https://openalex.org/W2536982192","https://openalex.org/W2998216295","https://openalex.org/W4251186222","https://openalex.org/W4285719527","https://openalex.org/W6607266775","https://openalex.org/W6657174251","https://openalex.org/W6678356451","https://openalex.org/W6679676526","https://openalex.org/W6682851269"],"related_works":["https://openalex.org/W2054017055","https://openalex.org/W2085792030","https://openalex.org/W2034318424","https://openalex.org/W1588899229","https://openalex.org/W4321517526","https://openalex.org/W1976022598","https://openalex.org/W1967182499","https://openalex.org/W2111896212","https://openalex.org/W2097034666","https://openalex.org/W2152748622"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,102,123],"method":[3,59,104],"for":[4,126],"estimating":[5],"the":[6,22,32,43,51,62,66,75,78,95,98,107,118,127,130,141],"contact":[7,108,142],"event":[8],"between":[9],"sensor-free":[10],"active":[11],"subtracks,":[12],"named":[13],"flippers,":[14,67],"of":[15,42,65,94],"an":[16],"articulated":[17],"tracked":[18],"vehicle":[19],"(ATV)":[20],"and":[21,36,56,120],"terrain":[23],"surface.":[24],"The":[25,110],"main":[26],"idea":[27],"is":[28,114],"to":[29,60,70,105,116,121],"consider":[30],"both":[31],"moving":[33],"base":[34],"link":[35],"unexpected":[37,92],"collisions":[38,93],"dynamics":[39,64],"as":[40],"disturbances":[41],"flipper":[44],"dynamics.":[45],"On":[46],"this":[47],"basis":[48],"we":[49,100],"extend":[50],"generalized":[52],"momenta":[53],"fault":[54],"detection":[55],"isolation":[57],"(FDI)":[58],"compute":[61],"residual":[63,79],"without":[68],"resorting":[69],"additional":[71],"sensory":[72],"information.":[73],"Under":[74],"hypothesis":[76],"that":[77,84],"signal":[80,119],"presents":[81],"disturbance":[82],"patterns":[83],"can":[85],"be":[86],"discriminated":[87],"by":[88,91],"those":[89],"generated":[90],"flippers":[96],"with":[97],"ground,":[99],"apply":[101],"classification":[103],"recover":[106],"event.":[109],"wavelet":[111],"packet":[112],"transform":[113],"used":[115],"decompose":[117],"generate":[122],"feature":[124,138],"space":[125],"residual,":[128],"from":[129],"different":[131],"subbands.":[132],"Finally,":[133],"sparse":[134],"SVM,":[135],"based":[136],"on":[137],"selection":[139],"discriminates":[140],"signal.":[143]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}