{"id":"https://openalex.org/W2889923199","doi":"https://doi.org/10.1109/icra.2018.8460519","title":"Autonomous Vehicle Navigation in Rural Environments Without Detailed Prior Maps","display_name":"Autonomous Vehicle Navigation in Rural Environments Without Detailed Prior Maps","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2889923199","doi":"https://doi.org/10.1109/icra.2018.8460519","mag":"2889923199"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/137200","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036486337","display_name":"Teddy Ort","orcid":"https://orcid.org/0000-0002-5571-3919"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Teddy Ort","raw_affiliation_strings":["Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037065865","display_name":"Liam Paull","orcid":"https://orcid.org/0000-0003-2492-6660"},"institutions":[{"id":"https://openalex.org/I4210161954","display_name":"D\u00e9partement d'Informatique","ror":"https://ror.org/05y6rqs46","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2746051580","https://openalex.org/I29607241","https://openalex.org/I4210159245","https://openalex.org/I4210161954"]},{"id":"https://openalex.org/I70931966","display_name":"Universit\u00e9 de Montr\u00e9al","ror":"https://ror.org/0161xgx34","country_code":"CA","type":"education","lineage":["https://openalex.org/I70931966"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"Liam Paull","raw_affiliation_strings":["Departement d'informatique et de recherche op\u00e9rationelle, Universit\u00e9 de Montr\u00e9al"],"affiliations":[{"raw_affiliation_string":"Departement d'informatique et de recherche op\u00e9rationelle, Universit\u00e9 de Montr\u00e9al","institution_ids":["https://openalex.org/I4210161954","https://openalex.org/I70931966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036486337"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":153.6311,"has_fulltext":false,"cited_by_count":144,"citation_normalized_percentile":{"value":0.99957481,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2040","last_page":"2047"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9980999827384949,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.9257262349128723},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7268285751342773},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6571829319000244},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5808591842651367},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5702993273735046},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5587507486343384},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4964624047279358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47648829221725464},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4167252480983734},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4148896038532257},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4115031957626343},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2926425039768219},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18556725978851318},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09123837947845459}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9257262349128723},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7268285751342773},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6571829319000244},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5808591842651367},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5702993273735046},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5587507486343384},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4964624047279358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47648829221725464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4167252480983734},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4148896038532257},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4115031957626343},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2926425039768219},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18556725978851318},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09123837947845459},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8460519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137200","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137200","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/137200","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137200","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8100000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W179122090","https://openalex.org/W1479814506","https://openalex.org/W1982254061","https://openalex.org/W1994959326","https://openalex.org/W1996518131","https://openalex.org/W2021063678","https://openalex.org/W2034207289","https://openalex.org/W2043642041","https://openalex.org/W2054969198","https://openalex.org/W2082313107","https://openalex.org/W2097012286","https://openalex.org/W2100068477","https://openalex.org/W2113685147","https://openalex.org/W2118545852","https://openalex.org/W2124651605","https://openalex.org/W2138362596","https://openalex.org/W2140253100","https://openalex.org/W2142362566","https://openalex.org/W2143146388","https://openalex.org/W2147915785","https://openalex.org/W2153251605","https://openalex.org/W2206848375","https://openalex.org/W2401252665","https://openalex.org/W2505004417","https://openalex.org/W2737479107","https://openalex.org/W2941908348","https://openalex.org/W3102168793","https://openalex.org/W6655594452","https://openalex.org/W6671195493","https://openalex.org/W6681128076","https://openalex.org/W6688093443","https://openalex.org/W6761658361"],"related_works":["https://openalex.org/W4313319544","https://openalex.org/W3138430576","https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W1969991288","https://openalex.org/W4200210047","https://openalex.org/W3032985159","https://openalex.org/W2551663027","https://openalex.org/W2614963770","https://openalex.org/W2980469219"],"abstract_inverted_index":{"State-of-the-art":[0],"autonomous":[1,69,90,224],"driving":[2,70,99],"systems":[3],"rely":[4],"heavily":[5],"on":[6,188,221,236],"detailed":[7,28,39,211],"and":[8,26,183,192,206,232],"highly":[9],"accurate":[10],"prior":[11,212],"maps.":[12,213],"However,":[13],"outside":[14],"of":[15,41,68,89,126,161,218,240],"small":[16],"urban":[17],"areas,":[18],"it":[19],"is":[20,60,129],"very":[21],"challenging":[22,229],"to":[23,49,152,173,201],"build,":[24],"store,":[25],"transmit":[27],"maps":[29,40,105],"since":[30],"the":[31,50,65,74,87,123,127,136,140,149,154,159,162,165,176,180,184,189,199,216,219,234],"spatial":[32],"scales":[33],"are":[34,171],"so":[35],"large.":[36],"Furthermore,":[37],"maintaining":[38],"large":[42,238],"rural":[43,93,230],"areas":[44],"can":[45,57],"be":[46],"impracticable":[47],"due":[48],"rapid":[51],"rate":[52],"at":[53,207],"which":[54,72,197],"these":[55],"environments":[56,94],"change.":[58],"This":[59],"a":[61,96,110,118,132,145,193,222,228,237],"significant":[62],"limitation":[63],"for":[64,76,106,114,164],"widespread":[66],"applicability":[67],"technology,":[71],"has":[73],"potential":[75],"an":[77],"incredibly":[78],"positive":[79],"societal":[80],"impact.":[81],"In":[82],"this":[83],"paper,":[84],"we":[85],"address":[86],"problem":[88],"navigation":[91,108,120],"in":[92,148,175,227],"through":[95],"novel":[97],"mapless":[98],"framework":[100],"that":[101],"combines":[102],"sparse":[103],"topological":[104],"global":[107,137],"with":[109],"sensor-based":[111],"perception":[112,142],"system":[113,143,220,235],"local":[115,119,141,177],"navigation.":[116],"First,":[117],"goal":[121],"within":[122],"sensor":[124],"view":[125],"vehicle":[128,150,200,225],"chosen":[130],"as":[131],"waypoint":[133,155],"leading":[134],"towards":[135],"goal.":[138],"Next,":[139],"generates":[144],"feasible":[146],"trajectory":[147],"frame":[151,178],"reach":[153],"while":[156],"abiding":[157],"by":[158],"rules":[160],"road":[163,203],"segment":[166],"being":[167],"traversed.":[168],"These":[169],"trajectories":[170],"updated":[172],"remain":[174],"using":[179],"vehicle's":[181],"odometry":[182],"associated":[185],"uncertainty":[186],"based":[187],"least-squares":[190],"residual":[191],"recursive":[194],"filtering":[195],"approach,":[196],"allows":[198],"navigate":[202],"networks":[204],"reliably,":[205],"high":[208],"speed,":[209],"without":[210],"We":[214],"demonstrate":[215],"performance":[217],"full-scale":[223],"navigating":[226],"environment":[231],"benchmark":[233],"amount":[239],"collected":[241],"data.":[242]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":26},{"year":2018,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
