{"id":"https://openalex.org/W4383108436","doi":"https://doi.org/10.1109/icra48891.2023.10161056","title":"Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs","display_name":"Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108436","doi":"https://doi.org/10.1109/icra48891.2023.10161056"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161056","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":"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/A5065759000","display_name":"Muhammad Fadhil Ginting","orcid":"https://orcid.org/0000-0003-4030-5151"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Muhammad Fadhil Ginting","raw_affiliation_strings":["Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083616280","display_name":"Sung Kyun Kim","orcid":"https://orcid.org/0000-0002-6317-9525"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sung-Kyun Kim","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052919907","display_name":"Oriana Peltzer","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oriana Peltzer","raw_affiliation_strings":["Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072488856","display_name":"Joshua Ott","orcid":"https://orcid.org/0000-0002-6754-8316"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua Ott","raw_affiliation_strings":["Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059102676","display_name":"Sunggoo Jung","orcid":"https://orcid.org/0000-0001-7672-6885"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunggoo Jung","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Aeronautics & Astronautics,Stanford,CA,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5065759000"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.9866,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77668088,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5653","last_page":"5658"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9943000078201294,"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/T13382","display_name":"Robotics and Automated Systems","score":0.991599977016449,"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/computer-science","display_name":"Computer science","score":0.7311100959777832},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6457809805870056},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.620166540145874},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5883272886276245},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5364473462104797},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.514628529548645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5070216655731201},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.498762845993042},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44899317622184753},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44016703963279724},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.428061306476593},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.39352431893348694},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33488401770591736},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.23401275277137756},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10615423321723938}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7311100959777832},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6457809805870056},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.620166540145874},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5883272886276245},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5364473462104797},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.514628529548645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5070216655731201},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.498762845993042},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44899317622184753},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44016703963279724},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.428061306476593},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.39352431893348694},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33488401770591736},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.23401275277137756},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10615423321723938},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161056","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":[{"display_name":"Sustainable cities and communities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1589180158","https://openalex.org/W1964502729","https://openalex.org/W2000321478","https://openalex.org/W2049207102","https://openalex.org/W2055981280","https://openalex.org/W2128990851","https://openalex.org/W2138313736","https://openalex.org/W2149280200","https://openalex.org/W2168992242","https://openalex.org/W2186002283","https://openalex.org/W2523049145","https://openalex.org/W2919379406","https://openalex.org/W2957348723","https://openalex.org/W2962884155","https://openalex.org/W2967853831","https://openalex.org/W2998859407","https://openalex.org/W3004359621","https://openalex.org/W3102330937","https://openalex.org/W3126614957","https://openalex.org/W3131341185","https://openalex.org/W4226236972","https://openalex.org/W4284889893","https://openalex.org/W4285506552","https://openalex.org/W4312943646","https://openalex.org/W4313119022","https://openalex.org/W6754725917","https://openalex.org/W6784395975"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W4285089922","https://openalex.org/W2389713625","https://openalex.org/W2990193004","https://openalex.org/W4308217561","https://openalex.org/W2212805002","https://openalex.org/W2134348961"],"abstract_inverted_index":{"To":[0],"achieve":[1],"autonomy":[2],"in":[3,28,55,73,131],"unknown":[4],"and":[5,24,47,67,133],"unstruc-tured":[6],"environments,":[7],"we":[8],"propose":[9,39],"a":[10,45,51,103,111,138],"method":[11,130],"for":[12,22,113],"semantic-based":[13,48,81,104],"planning":[14,105],"under":[15],"perceptual":[16],"uncertainty.":[17,100],"This":[18],"capability":[19],"is":[20],"cru-cial":[21],"safe":[23],"efficient":[25],"robot":[26,64,86,115],"navigation":[27],"environment":[29],"with":[30,123,137],"mobility-stressing":[31],"elements":[32],"that":[33,83,109],"require":[34],"terrain-specific":[35],"locomotion":[36],"policies.":[37],"We":[38,101,127],"the":[40,56,63,68,71,74,85,88,114,120],"Semantic":[41],"Belief":[42],"Graph":[43],"(SBG),":[44],"geometric-":[46],"representation":[49],"of":[50,62,70],"robot's":[52],"probabilistic":[53],"roadmap":[54],"environment.":[57,75],"The":[58,76],"SBG":[59,77,108],"nodes":[60,89],"comprise":[61],"geometric":[65],"state":[66],"semantic-knowledge":[69],"terrains":[72],"edges":[78],"represent":[79],"local":[80],"controllers":[82],"drive":[84],"between":[87],"or":[90],"invoke":[91],"an":[92],"information":[93],"gathering":[94],"action":[95],"to":[96,116,119],"reduce":[97],"semantic":[98],"belief":[99],"formulate":[102],"problem":[106],"on":[107],"produces":[110],"policy":[112],"safely":[117],"navigate":[118],"target":[121],"location":[122],"min-imal":[124],"traversal":[125],"time.":[126],"analyze":[128],"our":[129],"simulation":[132],"present":[134],"real-world":[135],"results":[136],"legged":[139],"robotic":[140],"platform":[141],"navigating":[142],"multi-level":[143],"outdoor":[144],"environments.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-05T07:30:30.508283","created_date":"2025-10-10T00:00:00"}