{"id":"https://openalex.org/W4413925843","doi":"https://doi.org/10.1109/icra55743.2025.11128469","title":"THAMP-3D: Tangent-Based Hybrid A* Motion Planning for Tethered Robots in Sloped 3D Terrains","display_name":"THAMP-3D: Tangent-Based Hybrid A* Motion Planning for Tethered Robots in Sloped 3D Terrains","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925843","doi":"https://doi.org/10.1109/icra55743.2025.11128469"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100636368","display_name":"Rahul Kumar","orcid":"https://orcid.org/0000-0002-5131-7572"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Kumar","raw_affiliation_strings":["Northeastern University,Department of Mechanical and Industrial Engineering,Boston,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Department of Mechanical and Industrial Engineering,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060842391","display_name":"Vishnu S. Chipade","orcid":"https://orcid.org/0000-0002-3330-3521"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vishnu S. Chipade","raw_affiliation_strings":["independent researcher"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"independent researcher","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011843629","display_name":"Sze Zheng Yong","orcid":"https://orcid.org/0000-0002-2104-3128"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sze Zheng Yong","raw_affiliation_strings":["Northeastern University,Department of Mechanical and Industrial Engineering,Boston,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Department of Mechanical and Industrial Engineering,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1885101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4373","last_page":"4379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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/tangent","display_name":"Tangent","score":0.7474928498268127},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7216867208480835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6818008422851562},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6072078943252563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5912780165672302},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49516597390174866},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.41807126998901367},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40013551712036133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38746872544288635},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.36628177762031555},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.27130770683288574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16138321161270142},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12032628059387207},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.04755765199661255}],"concepts":[{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.7474928498268127},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7216867208480835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6818008422851562},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6072078943252563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5912780165672302},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49516597390174866},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.41807126998901367},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40013551712036133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38746872544288635},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.36628177762031555},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.27130770683288574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16138321161270142},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12032628059387207},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.04755765199661255}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/W138882551","https://openalex.org/W1605811565","https://openalex.org/W2017872311","https://openalex.org/W2025677780","https://openalex.org/W2069965629","https://openalex.org/W2118750611","https://openalex.org/W2122841674","https://openalex.org/W2161322375","https://openalex.org/W2166853159","https://openalex.org/W2313274380","https://openalex.org/W2326597975","https://openalex.org/W2467774239","https://openalex.org/W2577017106","https://openalex.org/W2946414660","https://openalex.org/W3089888669","https://openalex.org/W3169117033","https://openalex.org/W4247679426","https://openalex.org/W4311452550","https://openalex.org/W4366504052","https://openalex.org/W4401415978","https://openalex.org/W4405785621"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2069184433","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4285089922"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,10,40,61,86,95],"novel":[4],"motion":[5],"planning":[6,104,120],"algorithm":[7,84],"designed":[8],"for":[9,94],"team":[11],"of":[12,27],"curvature-constrained":[13],"tethered":[14],"robots":[15],"operating":[16],"on":[17,39,48],"sloped":[18],"3D":[19],"terrains.":[20],"Our":[21,83],"approach":[22],"addresses":[23],"the":[24,91,103],"critical":[25],"issues":[26],"tether-terrain":[28],"interaction,":[29],"robot":[30],"stability,":[31],"and":[32,122],"tether":[33,49,73],"entanglement":[34],"avoidance.":[35],"The":[36,106],"study":[37],"focuses":[38],"two-robot":[41],"system,":[42],"where":[43],"stability":[44,100],"is":[45,52,109],"primarily":[46],"dependent":[47],"tension,":[50],"which":[51],"in":[53,119],"turn":[54],"limited":[55],"by":[56],"wheel":[57],"traction.":[58],"We":[59],"propose":[60],"path-planning":[62],"method":[63,108],"that":[64],"strategically":[65],"utilizes":[66],"terrain":[67],"features":[68],"(e.g.,":[69],"rocks)":[70],"to":[71],"augment":[72],"tension":[74],"through":[75,112],"additional":[76],"friction,":[77],"thereby":[78],"enhancing":[79],"overall":[80],"system":[81],"stability.":[82],"employs":[85],"modified":[87],"tangent":[88],"graph":[89],"as":[90],"underlying":[92],"structure":[93],"hybrid":[96],"A*":[97],"search,":[98],"incorporating":[99],"constraints":[101],"throughout":[102],"process.":[105],"proposed":[107],"extensively":[110],"evaluated":[111],"various":[113],"simulation":[114],"experiments,":[115],"demonstrating":[116],"its":[117],"effectiveness":[118],"safe":[121],"efficient":[123],"paths.":[124]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
