{"id":"https://openalex.org/W3089576429","doi":"https://doi.org/10.1109/icra40945.2020.9197268","title":"Motion Planning and Task Allocation for a Jumping Rover Team","display_name":"Motion Planning and Task Allocation for a Jumping Rover Team","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089576429","doi":"https://doi.org/10.1109/icra40945.2020.9197268","mag":"3089576429"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197268","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":"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/A5003664092","display_name":"Kai Chuen Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kai Chuen Tan","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102385048","display_name":"Myungjin Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Myungjin Jung","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064419084","display_name":"Isaac Shyu","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Isaac Shyu","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018284779","display_name":"Changhuang Wan","orcid":"https://orcid.org/0000-0002-2029-0901"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changhuang Wan","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043329858","display_name":"Ran Dai","orcid":"https://orcid.org/0000-0001-6791-2512"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ran Dai","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, The Ohio State University, Columbus, Ohio","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5003664092"],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":0.4907,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.66486055,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11133","display_name":"UAV Applications and Optimization","score":0.9839000105857849,"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/jumping","display_name":"Jumping","score":0.7776890397071838},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7376702427864075},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.687902569770813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6569351553916931},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.5171539187431335},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5019512176513672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.487416535615921},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4444632828235626},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.4405997097492218},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42172324657440186},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4105762541294098},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3973020315170288},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36237072944641113},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34199637174606323},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2342892587184906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1972571611404419},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14417389035224915}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.7776890397071838},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7376702427864075},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.687902569770813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6569351553916931},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.5171539187431335},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5019512176513672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.487416535615921},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4444632828235626},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.4405997097492218},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42172324657440186},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4105762541294098},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3973020315170288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36237072944641113},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34199637174606323},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2342892587184906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1972571611404419},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14417389035224915},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/icra40945.2020.9197268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197268","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:kb.osu.edu:1811/92233","is_oa":false,"landing_page_url":"http://hdl.handle.net/1811/92233","pdf_url":null,"source":{"id":"https://openalex.org/S4306402305","display_name":"The Knowledge Bank (The Ohio State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I52357470","host_organization_name":"The Ohio State University","host_organization_lineage":["https://openalex.org/I52357470"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1503081023","https://openalex.org/W1648525405","https://openalex.org/W2049287714","https://openalex.org/W2050819731","https://openalex.org/W2081878758","https://openalex.org/W2292299193","https://openalex.org/W2773451156","https://openalex.org/W2787535343","https://openalex.org/W2792257175","https://openalex.org/W2897019262","https://openalex.org/W2910105989","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W2910852459","https://openalex.org/W4316468820","https://openalex.org/W2035450885","https://openalex.org/W2032109086","https://openalex.org/W1991478428","https://openalex.org/W2369723851","https://openalex.org/W2903765850","https://openalex.org/W2313488753","https://openalex.org/W2981168246","https://openalex.org/W3021085327"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,42,60,109,115,126],"cooperative":[4],"robotic":[5],"team":[6,36],"composed":[7],"of":[8,63,71,74,139,146],"unmanned":[9],"ground":[10,43],"vehicles":[11],"(UGVs)":[12],"with":[13,25,154],"hybrid":[14,28,148],"operational":[15,29,149],"modes":[16,30,150],"to":[17,37,113,132],"tackle":[18],"the":[19,35,80,96,123,135,147,166],"multiple":[20,142],"traveling":[21],"salesman":[22],"problem":[23,131],"(mTSP)":[24],"obstacles.":[26,49,77],"The":[27,56,144],"allow":[31],"every":[32],"UGV":[33],"in":[34,90,159],"not":[38],"only":[39],"travel":[40],"on":[41,69],"surface":[44],"but":[45],"also":[46],"jump":[47],"over":[48],"We":[50,120],"name":[51],"these":[52],"UGVs":[53],"jumping":[54,57,168],"rovers.":[55,169],"capability":[58],"provides":[59],"flexible":[61],"form":[62],"locomotion":[64],"by":[65,95],"leaping":[66],"and":[67,104,151],"landing":[68],"top":[70],"obstacles":[72],"instead":[73],"navigating":[75],"around":[76],"To":[78],"solve":[79],"mTSP,":[81],"an":[82,91,160],"optimal":[83],"path":[84,117],"between":[85,118],"any":[86],"two":[87],"objective":[88],"points":[89],"mTSP":[92,124],"is":[93,105,157],"determined":[94],"optimized":[97,152],"rapidly-exploring":[98],"random":[99],"tree":[100],"method,":[101],"named":[102],"RRT*,":[103],"further":[106],"improved":[107],"through":[108],"refined":[110],"RRT*":[111],"algorithm":[112],"find":[114],"smoother":[116],"targets.":[119],"then":[121],"formulate":[122],"as":[125],"mixed-integer":[127],"linear":[128],"programming":[129],"(MILP)":[130],"search":[133],"for":[134,141],"most":[136],"cost-effective":[137],"combination":[138],"paths":[140],"UGVs.":[143],"effectiveness":[145],"motion":[153],"assigned":[155],"tasks":[156],"verified":[158],"indoor,":[161],"physical":[162],"experimental":[163],"environment":[164],"using":[165],"customized":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
