{"id":"https://openalex.org/W2157645616","doi":"https://doi.org/10.1109/iros.2003.1250646","title":"Enhanced locomotion control for a planetary rover","display_name":"Enhanced locomotion control for a planetary rover","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2157645616","doi":"https://doi.org/10.1109/iros.2003.1250646","mag":"2157645616"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5060070984","display_name":"Thierry Peynot","orcid":"https://orcid.org/0000-0001-8275-6538"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"T. Peynot","raw_affiliation_strings":["LAAS/ICNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS/ICNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027043618","display_name":"Simon Lacroix","orcid":"https://orcid.org/0000-0001-9988-0981"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Lacroix","raw_affiliation_strings":["LAAS/ICNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS/ICNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6844,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.89553557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"311","last_page":"316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.880413293838501},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.781301736831665},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7168586254119873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6670262813568115},{"id":"https://openalex.org/keywords/skid","display_name":"Skid (aerodynamics)","score":0.5596531629562378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4346614181995392},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4265672266483307},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41844648122787476},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41382086277008057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37526169419288635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2783116102218628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2781181335449219},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.10036894679069519},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09540373086929321}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.880413293838501},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.781301736831665},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7168586254119873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6670262813568115},{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.5596531629562378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4346614181995392},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4265672266483307},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41844648122787476},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41382086277008057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37526169419288635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2783116102218628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2781181335449219},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.10036894679069519},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09540373086929321},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1497270502","https://openalex.org/W1500519936","https://openalex.org/W1570240438","https://openalex.org/W1600519251","https://openalex.org/W2111152968","https://openalex.org/W2115075990","https://openalex.org/W2132800584","https://openalex.org/W2163583908","https://openalex.org/W2188532653","https://openalex.org/W6996652570"],"related_works":["https://openalex.org/W2005824415","https://openalex.org/W2372999110","https://openalex.org/W3136493222","https://openalex.org/W65309699","https://openalex.org/W2997803326","https://openalex.org/W3176430321","https://openalex.org/W2394269979","https://openalex.org/W2054858771","https://openalex.org/W2019286687","https://openalex.org/W146606970"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3,45],"approach":[4],"to":[5,25],"improve":[6],"and":[7],"monitor":[8],"the":[9,37,48,67],"behavior":[10],"of":[11,36,47,55],"a":[12,33,53,61],"skid-steering":[13],"rover":[14,63],"on":[15],"rough":[16],"terrains.":[17],"An":[18,29],"adaptive":[19],"locomotion":[20,49,56],"control":[21],"generates":[22],"speeds":[23],"references":[24],"avoid":[26],"slipping":[27],"situations.":[28],"enhanced":[30],"odometry":[31],"provides":[32,44],"better":[34],"estimation":[35],"distance":[38],"travelled.":[39],"A":[40],"probabilistic":[41],"classification":[42],"procedure":[43],"evaluation":[46],"efficiency":[50],"on-line,":[51],"with":[52,60],"detection":[54],"faults.":[57],"Results":[58],"obtained":[59],"Marsokhod":[62],"are":[64],"presented":[65],"throughout":[66],"paper.":[68]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
