{"id":"https://openalex.org/W2980580806","doi":"https://doi.org/10.1109/icra40945.2020.9196848","title":"Fast Local Planning and Mapping in Unknown Off-Road Terrain","display_name":"Fast Local Planning and Mapping in Unknown Off-Road Terrain","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2980580806","doi":"https://doi.org/10.1109/icra40945.2020.9196848","mag":"2980580806"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.08521","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071118844","display_name":"Timothy Overbye","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Timothy Overbye","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, TX, USA","\u2020Texas A&M University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"\u2020Texas A&M University","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053144325","display_name":"Srikanth Saripalli","orcid":"https://orcid.org/0000-0002-3906-7574"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikanth Saripalli","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, TX, USA","\u2020Texas A&M University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"\u2020Texas A&M University","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5071118844"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00505526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5912","last_page":"5918"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9948999881744385,"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/terrain","display_name":"Terrain","score":0.8529081344604492},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7778049111366272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6881476044654846},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6538844108581543},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6162332892417908},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5586313009262085},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.516873836517334},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.51059490442276},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48467710614204407},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4569428861141205},{"id":"https://openalex.org/keywords/road-map","display_name":"Road map","score":0.45127975940704346},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.44418662786483765},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3926140367984772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3309805691242218},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2838744521141052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18970441818237305},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1763080358505249},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09829887747764587}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8529081344604492},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7778049111366272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6881476044654846},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6538844108581543},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6162332892417908},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5586313009262085},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.516873836517334},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.51059490442276},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48467710614204407},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4569428861141205},{"id":"https://openalex.org/C188048851","wikidata":"https://www.wikidata.org/wiki/Q2298569","display_name":"Road map","level":2,"score":0.45127975940704346},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.44418662786483765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3926140367984772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3309805691242218},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2838744521141052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18970441818237305},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1763080358505249},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09829887747764587},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.08521","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.08521","pdf_url":"https://arxiv.org/pdf/1910.08521","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"mag:2980580806","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1910.08521","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.08521","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.08521","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.08521","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.08521","pdf_url":"https://arxiv.org/pdf/1910.08521","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2980580806.pdf","grobid_xml":"https://content.openalex.org/works/W2980580806.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1910823972","https://openalex.org/W1970276631","https://openalex.org/W2053407718","https://openalex.org/W2076162824","https://openalex.org/W2112271657","https://openalex.org/W2115200209","https://openalex.org/W2117211893","https://openalex.org/W2154522324","https://openalex.org/W2156834236","https://openalex.org/W2468618434","https://openalex.org/W2494309851","https://openalex.org/W2607262003","https://openalex.org/W2740624029","https://openalex.org/W6605295560","https://openalex.org/W6683329757","https://openalex.org/W6780837398"],"related_works":["https://openalex.org/W2988990098","https://openalex.org/W2786306427","https://openalex.org/W2478823171","https://openalex.org/W2810063846","https://openalex.org/W2133918634","https://openalex.org/W1973976154","https://openalex.org/W3134470060","https://openalex.org/W3169134134","https://openalex.org/W2943641740","https://openalex.org/W2116140262","https://openalex.org/W2346392003","https://openalex.org/W2985162092","https://openalex.org/W20273137","https://openalex.org/W3144114446","https://openalex.org/W3106193344","https://openalex.org/W2991273344","https://openalex.org/W3136645878","https://openalex.org/W2900728397","https://openalex.org/W2078240650","https://openalex.org/W2970951671"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,55],"present":[4],"a":[5,24,66],"fast,":[6],"on-line":[7],"mapping":[8],"and":[9,31,40,64,85,92],"planning":[10],"solution":[11],"for":[12],"operation":[13,102],"in":[14,115],"unknown,":[15],"off-road,":[16],"environments.":[17],"We":[18,108],"combine":[19],"obstacle":[20],"detection":[21],"along":[22],"with":[23],"terrain":[25,118],"gradient":[26],"map":[27,36,84],"to":[28,70,87,94],"make":[29],"simple":[30],"adaptable":[32],"cost":[33,83],"map.":[34,53],"This":[35],"can":[37],"be":[38],"created":[39],"updated":[41],"at":[42,103,119],"10":[43],"Hz.":[44,107],"An":[45],"A*":[46,88],"planner":[47],"finds":[48],"optimal":[49,77],"paths":[50],"over":[51,59],"the":[52,60,75,82,95,110],"Finally,":[54],"take":[56],"multiple":[57],"samples":[58],"control":[61],"input":[62],"space":[63],"do":[65],"kinematic":[67],"forward":[68],"simulation":[69],"generated":[71],"feasible":[72],"trajectories.":[73],"Then":[74],"most":[76],"trajectory,":[78],"as":[79],"determined":[80],"by":[81],"proximity":[86],"path,":[89],"is":[90],"chosen":[91],"sent":[93],"controller.":[96],"Our":[97],"method":[98,114],"allows":[99],"real":[100],"time":[101],"rates":[104],"of":[105,112],"30":[106],"demonstrate":[109],"efficiency":[111],"our":[113],"various":[116],"off-road":[117],"high":[120],"speed.":[121]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}