{"id":"https://openalex.org/W4383108792","doi":"https://doi.org/10.1109/icra48891.2023.10160655","title":"HALO: Hazard-Aware Landing Optimization for Autonomous Systems","display_name":"HALO: Hazard-Aware Landing Optimization for Autonomous Systems","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108792","doi":"https://doi.org/10.1109/icra48891.2023.10160655"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160655","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5012659446","display_name":"Christopher R. Hayner","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher R. Hayner","raw_affiliation_strings":["University of Washington,Dept. of Aeronautics and Astronautics,USA","Dept. of Aeronautics and Astronautics, University of Washington, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Dept. of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037352479","display_name":"Samuel C. Buckner","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel C. Buckner","raw_affiliation_strings":["University of Washington,Dept. of Aeronautics and Astronautics,USA","Dept. of Aeronautics and Astronautics, University of Washington, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Dept. of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025428305","display_name":"Daniel Broyles","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Broyles","raw_affiliation_strings":["University of Washington,Dept. of Aeronautics and Astronautics,USA","Dept. of Aeronautics and Astronautics, University of Washington, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Dept. of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000863973","display_name":"Evelyn Madewell","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evelyn Madewell","raw_affiliation_strings":["University of Washington,Dept. of Aeronautics and Astronautics,USA","Dept. of Aeronautics and Astronautics, University of Washington, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Dept. of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007340626","display_name":"Karen Ka Yan Leung","orcid":"https://orcid.org/0000-0002-6689-7194"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karen Leung","raw_affiliation_strings":["University of Washington,Dept. of Aeronautics and Astronautics,USA","Dept. of Aeronautics and Astronautics, University of Washington, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Dept. of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044772884","display_name":"Beh\u00e7et A\u00e7\u0131kme\u015fe","orcid":"https://orcid.org/0000-0002-8693-8109"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Beh\u00e7et A\u00e7ikme\u015fe","raw_affiliation_strings":["University of Washington,Dept. of Aeronautics and Astronautics,USA","Dept. of Aeronautics and Astronautics, University of Washington, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Dept. of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronautics and Astronautics, University of Washington, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3261","last_page":"3267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9988999962806702,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9988999962806702,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.6049519777297974},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5383731722831726},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5293156504631042},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.5089404582977295},{"id":"https://openalex.org/keywords/hazard","display_name":"Hazard","score":0.48132050037384033},{"id":"https://openalex.org/keywords/contingency-plan","display_name":"Contingency plan","score":0.47058597207069397},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4640117883682251},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41879767179489136},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33058473467826843},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3207681179046631},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29012006521224976},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.13928008079528809},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11965537071228027}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6049519777297974},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5383731722831726},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5293156504631042},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.5089404582977295},{"id":"https://openalex.org/C49261128","wikidata":"https://www.wikidata.org/wiki/Q1132455","display_name":"Hazard","level":2,"score":0.48132050037384033},{"id":"https://openalex.org/C14331377","wikidata":"https://www.wikidata.org/wiki/Q2340208","display_name":"Contingency plan","level":2,"score":0.47058597207069397},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4640117883682251},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41879767179489136},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33058473467826843},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3207681179046631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29012006521224976},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.13928008079528809},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11965537071228027},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160655","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2021748044","https://openalex.org/W2034673413","https://openalex.org/W2065297540","https://openalex.org/W2103328396","https://openalex.org/W2131081159","https://openalex.org/W2319419857","https://openalex.org/W2765772254","https://openalex.org/W2781538372","https://openalex.org/W2998036550","https://openalex.org/W3003187462","https://openalex.org/W3088490803","https://openalex.org/W3094606182","https://openalex.org/W3095343947","https://openalex.org/W3167919614","https://openalex.org/W4205924690","https://openalex.org/W4285102217","https://openalex.org/W4287117932","https://openalex.org/W4297221982","https://openalex.org/W6784864382","https://openalex.org/W6796638056","https://openalex.org/W6839935481"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251"],"abstract_inverted_index":{"With":[0],"autonomous":[1],"aerial":[2],"vehicles":[3],"enacting":[4],"safety-critical":[5],"missions,":[6],"such":[7],"as":[8,108],"the":[9,18,41,79,116],"Mars":[10],"Science":[11],"Laboratory":[12],"Curiosity":[13],"rover's":[14],"landing":[15,28,45,54,96,135],"on":[16],"Mars,":[17],"tasks":[19],"of":[20,118],"automatically":[21],"identifying":[22],"and":[23,48,61,71,81,126],"reasoning":[24],"about":[25],"potentially":[26],"hazardous":[27],"sites":[29],"is":[30,100,112],"paramount.":[31],"This":[32],"paper":[33],"presents":[34],"a":[35,101,122,144],"coupled":[36,130],"perception-planning":[37,131],"solution":[38],"which":[39],"addresses":[40],"hazard":[42],"detection,":[43],"optimal":[44],"trajectory":[46],"generation,":[47],"contingency":[49,103],"planning":[50,82],"challenges":[51],"encountered":[52],"when":[53],"in":[55],"uncertain":[56],"environments.":[57],"Specifically,":[58],"we":[59],"develop":[60],"combine":[62],"two":[63],"novel":[64],"algorithms,":[65],"Hazard-Aware":[66],"Landing":[67],"Site":[68],"Selection":[69],"(HALSS)":[70],"Adaptive":[72],"Deferred-Decision":[73],"Trajectory":[74],"Optimization":[75],"(Adaptive-DDTO),":[76],"to":[77,92,143],"address":[78],"perception":[80,110],"challenges,":[83],"respectively.":[84],"The":[85],"HALSS":[86],"framework":[87],"processes":[88],"point":[89],"cloud":[90],"information":[91,111],"identify":[93],"feasible":[94],"safe":[95],"zones,":[97],"while":[98],"Adaptive-DDTO":[99],"multi-target":[102],"planner":[104],"that":[105,128],"adaptively":[106],"replans":[107],"new":[109],"received.":[113],"We":[114],"demonstrate":[115],"efficacy":[117],"our":[119,129],"approach":[120],"using":[121],"simulated":[123],"Martian":[124],"environment":[125],"show":[127],"method":[132],"achieves":[133],"greater":[134],"success":[136],"whilst":[137],"being":[138],"more":[139],"fuel":[140],"efficient":[141],"compared":[142],"non-adaptive":[145],"DDTO":[146],"approach.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}