{"id":"https://openalex.org/W3128729965","doi":"https://doi.org/10.1109/icra48506.2021.9561291","title":"Path Optimization for Ground Vehicles in Off-Road Terrain","display_name":"Path Optimization for Ground Vehicles in Off-Road Terrain","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3128729965","doi":"https://doi.org/10.1109/icra48506.2021.9561291","mag":"3128729965"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/2101.00769","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":false,"raw_author_name":"Timothy Overbye","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","[Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77840]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"[Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77840]","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, College Station, TX, USA","[Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77840]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"[Texas A&M University,Department of Mechanical Engineering,College Station,TX,USA,77840]","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.097,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.34841374,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7708","last_page":"7714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9983000159263611,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9702000021934509,"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/path","display_name":"Path (computing)","score":0.722643256187439},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6686332821846008},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6273826360702515},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5980198979377747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387408137321472},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5333134531974792},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.49987053871154785},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45360976457595825},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44385042786598206},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.41538625955581665},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4111815392971039},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24865084886550903},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14993470907211304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08469724655151367},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06063932180404663}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.722643256187439},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6686332821846008},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6273826360702515},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5980198979377747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387408137321472},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5333134531974792},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.49987053871154785},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45360976457595825},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44385042786598206},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.41538625955581665},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4111815392971039},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24865084886550903},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14993470907211304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08469724655151367},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06063932180404663},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"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/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":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2101.00769","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.00769","pdf_url":"https://arxiv.org/pdf/2101.00769","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3128729965","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2101.00769","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.2101.00769","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2101.00769","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:2101.00769","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.00769","pdf_url":"https://arxiv.org/pdf/2101.00769","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3128729965.pdf","grobid_xml":"https://content.openalex.org/works/W3128729965.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W230730723","https://openalex.org/W1968582771","https://openalex.org/W1969483458","https://openalex.org/W1987985958","https://openalex.org/W2012233224","https://openalex.org/W2059533139","https://openalex.org/W2099893201","https://openalex.org/W2134765105","https://openalex.org/W2313274380","https://openalex.org/W2325038357","https://openalex.org/W2610789186","https://openalex.org/W2626115462","https://openalex.org/W2746418572","https://openalex.org/W2890807499","https://openalex.org/W2915307770","https://openalex.org/W3091115302","https://openalex.org/W3114616371","https://openalex.org/W4255045719","https://openalex.org/W6605295560","https://openalex.org/W6676804497","https://openalex.org/W6677785868"],"related_works":["https://openalex.org/W296648851","https://openalex.org/W2026037988","https://openalex.org/W1982418158","https://openalex.org/W2145078823","https://openalex.org/W2929402316","https://openalex.org/W2113040390","https://openalex.org/W2608378668","https://openalex.org/W3110143542","https://openalex.org/W2034132070","https://openalex.org/W2128766928","https://openalex.org/W2085447678","https://openalex.org/W2741675589","https://openalex.org/W3000668993","https://openalex.org/W2773960818","https://openalex.org/W2149457769","https://openalex.org/W2067188976","https://openalex.org/W152009679","https://openalex.org/W3132251431","https://openalex.org/W1523570480","https://openalex.org/W3014935988"],"abstract_inverted_index":{"We":[0,95],"present":[1,53],"a":[2,73,101],"method":[3],"for":[4,7,61],"path":[5,17,59,71,80,99],"optimization":[6,18,60],"ground":[8,63],"vehicles":[9],"in":[10,28,39,114,126],"off-road":[11,62,131],"environments":[12],"at":[13,133],"high":[14],"speeds.":[15],"This":[16,65,82,105],"considers":[19],"the":[20,24,29,40,47,70,79,84,92,123],"kinematic":[21,87],"constraints":[22,36,88,90],"of":[23,46,75,86,135],"vehicle.":[25],"By":[26],"thinking":[27],"actuator":[30,55],"space":[31,41,56],"we":[32,52,121],"can":[33],"represent":[34],"such":[35],"as":[37,72],"limits":[38],"rather":[42],"than":[43],"derived":[44],"properties":[45],"path.":[48],"In":[49],"this":[50,98],"paper":[51],"an":[54,130],"approach":[57],"to":[58],"vehicles.":[64],"is":[66],"done":[67],"by":[68],"representing":[69],"list":[74],"steering":[76,93],"angles":[77],"over":[78],"length.":[81],"transforms":[83],"set":[85],"into":[89,100],"on":[91,129],"angle.":[94],"then":[96],"put":[97],"gradient":[102],"descent":[103],"solver.":[104],"produces":[106],"paths":[107],"that":[108],"are":[109],"kinematically":[110],"feasible":[111],"and":[112,128],"optimized":[113],"accordance":[115],"with":[116],"our":[117],"cost":[118],"function.":[119],"Finally,":[120],"tested":[122],"system":[124],"both":[125],"simulation":[127],"vehicle":[132],"speeds":[134],"5":[136],"m/s.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}