{"id":"https://openalex.org/W2008837194","doi":"https://doi.org/10.1109/iros.2012.6385662","title":"Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques","display_name":"Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2008837194","doi":"https://doi.org/10.1109/iros.2012.6385662","mag":"2008837194"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arun Kumar Singh","raw_affiliation_strings":["Robotics Research Laboratory, IIIT-\u00e1Hyderabad, India","Robotics Research Centre IIIT Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, IIIT-\u00e1Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Centre IIIT Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K Madhava Krishna","raw_affiliation_strings":["Robotics Research Centre, IIIT-\u00e1Hyderabad, India","Robotics Research lab, IIIT, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Centre, IIIT-\u00e1Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research lab, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053144325","display_name":"Srikanth Saripalli","orcid":"https://orcid.org/0000-0002-3906-7574"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikanth Saripalli","raw_affiliation_strings":["ASTRIL, Arizona State University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ASTRIL, Arizona State University, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7764,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.91346001,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"38","issue":null,"first_page":"3538","last_page":"3545"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9837999939918518,"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/terrain","display_name":"Terrain","score":0.891033411026001},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7186520099639893},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.679074764251709},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.6015684008598328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5812524557113647},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5612979531288147},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5347553491592407},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.519721508026123},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5173805952072144},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.5081603527069092},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42016321420669556},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3889547884464264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25145256519317627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19908282160758972},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17185601592063904},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16085857152938843},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15924715995788574},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14865070581436157},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14373916387557983},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14318910241127014},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1375892460346222},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07478982210159302}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.891033411026001},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7186520099639893},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.679074764251709},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.6015684008598328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5812524557113647},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5612979531288147},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5347553491592407},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.519721508026123},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5173805952072144},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.5081603527069092},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42016321420669556},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3889547884464264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25145256519317627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19908282160758972},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17185601592063904},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16085857152938843},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15924715995788574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14865070581436157},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14373916387557983},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14318910241127014},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1375892460346222},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07478982210159302},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8100000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1559793070","https://openalex.org/W1994789191","https://openalex.org/W2004406110","https://openalex.org/W2016144890","https://openalex.org/W2030366480","https://openalex.org/W2072748435","https://openalex.org/W2073371710","https://openalex.org/W2103813778","https://openalex.org/W2110222090","https://openalex.org/W2113526778","https://openalex.org/W2127805860","https://openalex.org/W2128644970","https://openalex.org/W2134967036","https://openalex.org/W2142768474","https://openalex.org/W2154859766","https://openalex.org/W2158905481","https://openalex.org/W2162881204","https://openalex.org/W2163411428","https://openalex.org/W2276216829","https://openalex.org/W6676652861"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W4384026392","https://openalex.org/W1977229594","https://openalex.org/W4285089922"],"abstract_inverted_index":{"In":[0],"this":[1,31,69],"paper":[2,32],"we":[3],"introduce":[4],"a":[5,55,83,129],"novel":[6,84],"framework":[7],"of":[8,30,42,58,77,105,158],"generating":[9],"trajectories":[10],"which":[11],"explicitly":[12],"satisfies":[13],"the":[14,40,43,66,75,78,100,106,112,156,159,163],"stability":[15,61],"constraints":[16],"such":[17],"as":[18],"no-slip":[19,113],"and":[20,68,102,114,125,132],"permanent":[21],"ground":[22],"contact":[23,115],"on":[24,45,65],"uneven":[25,46,140],"terrain.":[26,47],"The":[27],"main":[28],"contributions":[29],"are:":[33],"(1)":[34],"It":[35,81],"derives":[36],"analytical":[37],"functions":[38,95],"depicting":[39],"evolution":[41],"vehicle":[44,60,107],"These":[48],"functional":[49],"descriptions":[50],"enable":[51],"us":[52],"to":[53,73,98,154],"have":[54],"fast":[56],"evaluation":[57],"possible":[59],"along":[62],"various":[63],"directions":[64],"terrain":[67,141],"information":[70],"is":[71,152],"used":[72,97],"control":[74],"shape":[76],"trajectory.":[79],"(2)":[80],"introduces":[82],"paradigm":[85],"wherein":[86],"non-linear":[87],"time":[88,121],"scaling":[89,122],"brought":[90],"about":[91],"by":[92],"parametrized":[93],"exponential":[94],"are":[96],"modify":[99],"velocity":[101,124,157],"acceleration":[103,126],"profile":[104,127],"so":[108],"that":[109,119],"these":[110],"satisfy":[111],"constraints.":[116],"We":[117],"show":[118],"nonlinear":[120],"manipulates":[123],"in":[128,139,145,147],"versatile":[130],"manner":[131],"consequently":[133],"has":[134],"exceptional":[135],"utility":[136],"not":[137],"only":[138],"navigation":[142],"but":[143],"also":[144],"general":[146],"any":[148],"problem":[149],"where":[150],"it":[151],"required":[153],"change":[155],"robot":[160],"while":[161],"keeping":[162],"path":[164],"unchanged":[165],"like":[166],"collision":[167],"avoidance.":[168]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
