{"id":"https://openalex.org/W1589180158","doi":"https://doi.org/10.1109/irds.2002.1041478","title":"Multi-sensor, high speed autonomous stair climbing","display_name":"Multi-sensor, high speed autonomous stair climbing","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W1589180158","doi":"https://doi.org/10.1109/irds.2002.1041478","mag":"1589180158"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5075764545","display_name":"David Andrew Helmick","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D.A. Helmick","raw_affiliation_strings":["Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Lab., California Inst. of Technology, Pasadena, CA USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025573831","display_name":"Stergios I. Roumeliotis","orcid":"https://orcid.org/0009-0001-3056-0426"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.I. Roumeliotis","raw_affiliation_strings":["California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112548688","display_name":"Michael C. McHenry","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M.C. McHenry","raw_affiliation_strings":["Rossum Technologies, Inc"],"affiliations":[{"raw_affiliation_string":"Rossum Technologies, Inc","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036099508","display_name":"Larry Matthies","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory | California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory | California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075764545"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":9.0544,"has_fulltext":false,"cited_by_count":68,"citation_normalized_percentile":{"value":0.97662171,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"733","last_page":"742"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994000196456909,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994000196456909,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/stair-climbing","display_name":"Stair climbing","score":0.6139117479324341},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.578154444694519},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.544624924659729},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3448059558868408},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18824732303619385},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.15384230017662048},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07276123762130737}],"concepts":[{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.6139117479324341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.578154444694519},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.544624924659729},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3448059558868408},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18824732303619385},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.15384230017662048},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07276123762130737},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/irds.2002.1041478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W585670370","https://openalex.org/W1489635849","https://openalex.org/W1500527030","https://openalex.org/W1513016807","https://openalex.org/W1555601014","https://openalex.org/W1578483761","https://openalex.org/W2049918078","https://openalex.org/W2085066685","https://openalex.org/W2102036932","https://openalex.org/W2117102490","https://openalex.org/W2134217361","https://openalex.org/W2138016762","https://openalex.org/W2142558335","https://openalex.org/W2150967805","https://openalex.org/W2153360402","https://openalex.org/W2168004776","https://openalex.org/W2324830312","https://openalex.org/W2467377838","https://openalex.org/W2527081555","https://openalex.org/W2798404144","https://openalex.org/W3108645772","https://openalex.org/W3169748930","https://openalex.org/W4210274491","https://openalex.org/W6671921225","https://openalex.org/W6679600940","https://openalex.org/W6719914667"],"related_works":["https://openalex.org/W2029973929","https://openalex.org/W2323112089","https://openalex.org/W655693688","https://openalex.org/W2324058214","https://openalex.org/W4377138153","https://openalex.org/W4312590534","https://openalex.org/W4205407652","https://openalex.org/W4312202082","https://openalex.org/W2070791754","https://openalex.org/W2569658007"],"abstract_inverted_index":{"Small,":[0],"tracked":[1,117],"mobile":[2],"robots":[3],"designed":[4],"for":[5,12,34],"general":[6],"urban":[7],"mobility":[8],"have":[9,67],"been":[10],"developed":[11],"the":[13,44,59,99,104,108,120],"purpose":[14],"of":[15,36,48,52,63,84,107,123],"reconnaissance":[16],"and/or":[17],"search":[18],"and":[19,24,46,54,61,80,91,102,126],"rescue":[20],"missions":[21],"in":[22],"buildings":[23],"cities.":[25],"Autonomous":[26],"stair":[27,64,111],"climbing":[28],"is":[29],"a":[30,49,70,88,93,116],"significant":[31],"capability":[32],"required":[33],"many":[35],"these":[37],"missions.":[38],"In":[39],"this":[40,124],"paper":[41],"we":[42],"present":[43],"design":[45],"implementation":[47],"new":[50],"set":[51],"estimation":[53,127],"control":[55,125],"algorithms":[56],"that":[57,73,97],"increase":[58],"speed":[60],"effectiveness":[62],"climbing.":[65,112],"We":[66],"developed:":[68],"(1)":[69],"Kalman":[71],"filter":[72],"fuses":[74],"visual/laser":[75],"data":[76],"with":[77],"inertial":[78],"measurements":[79],"provides":[81],"attitude":[82],"estimates":[83],"improved":[85,121],"accuracy":[86],"at":[87],"high":[89],"rate;":[90],"(2)":[92],"physics":[94],"based":[95],"controller":[96],"minimizes":[98],"heading":[100],"error":[101],"maximizes":[103],"effective":[105],"velocity":[106],"vehicle":[109,118],"during":[110],"Experimental":[113],"results":[114],"using":[115],"validate":[119],"performance":[122],"scheme":[128],"over":[129],"previous":[130],"approaches.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
