{"id":"https://openalex.org/W2004682152","doi":"https://doi.org/10.1109/iros.2013.6696559","title":"Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans","display_name":"Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2004682152","doi":"https://doi.org/10.1109/iros.2013.6696559","mag":"2004682152"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10630/6855","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014881396","display_name":"Jorge L. Mart\u00ednez","orcid":"https://orcid.org/0000-0002-8940-2465"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge L. Martinez","raw_affiliation_strings":["Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035771066","display_name":"Anthony Mandow","orcid":"https://orcid.org/0000-0002-9994-6239"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Anthony Mandow","raw_affiliation_strings":["Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072189567","display_name":"Antonio J. Reina","orcid":"https://orcid.org/0000-0002-6064-3927"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Reina","raw_affiliation_strings":["Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076405872","display_name":"Tom\u00e1s J. Cantador","orcid":null},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Tomas J. Cantador","raw_affiliation_strings":["Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100651933","display_name":"Jes\u00fas Morales","orcid":"https://orcid.org/0000-0003-1095-4775"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jesus Morales","raw_affiliation_strings":["Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052476498","display_name":"Alfonso Garc\u00eda-Cerezo","orcid":"https://orcid.org/0000-0003-3432-3230"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alfonso Garcia-Cerezo","raw_affiliation_strings":["Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dpto. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1051,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.80303109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1576","last_page":"1581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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/T11106","display_name":"Data Management and Algorithms","score":0.9810000061988831,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/navigability","display_name":"Navigability","score":0.9248949289321899},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8842223882675171},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.7365951538085938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5389891266822815},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.507450520992279},{"id":"https://openalex.org/keywords/digital-elevation-model","display_name":"Digital elevation model","score":0.47368788719177246},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46262431144714355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4600090980529785},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.45992642641067505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4395899176597595},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4186834692955017},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4185595214366913},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4116075932979584},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4106849730014801},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2800847589969635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22795319557189941},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1685788631439209},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11663448810577393},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1075637936592102},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07172632217407227}],"concepts":[{"id":"https://openalex.org/C2778972660","wikidata":"https://www.wikidata.org/wiki/Q1666353","display_name":"Navigability","level":2,"score":0.9248949289321899},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8842223882675171},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.7365951538085938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5389891266822815},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.507450520992279},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.47368788719177246},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46262431144714355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4600090980529785},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.45992642641067505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4395899176597595},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4186834692955017},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4185595214366913},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4116075932979584},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4106849730014801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2800847589969635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22795319557189941},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1685788631439209},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11663448810577393},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1075637936592102},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07172632217407227},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:riuma.uma.es:10630/6855","is_oa":true,"landing_page_url":"http://hdl.handle.net/10630/6855","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference output"}],"best_oa_location":{"id":"pmh:oai:riuma.uma.es:10630/6855","is_oa":true,"landing_page_url":"http://hdl.handle.net/10630/6855","pdf_url":null,"source":{"id":"https://openalex.org/S4306401385","display_name":"Repositorio Institucional de la Universidad de M\u00e1laga (University of M\u00e1laga)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82767444","host_organization_name":"Universidad de M\u00e1laga","host_organization_lineage":["https://openalex.org/I82767444"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference output"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1486957317","https://openalex.org/W1521785144","https://openalex.org/W1968695174","https://openalex.org/W1973956002","https://openalex.org/W1976695383","https://openalex.org/W1991275316","https://openalex.org/W2005066870","https://openalex.org/W2010528033","https://openalex.org/W2019207321","https://openalex.org/W2028000700","https://openalex.org/W2033771752","https://openalex.org/W2037490150","https://openalex.org/W2062052267","https://openalex.org/W2071067499","https://openalex.org/W2081110738","https://openalex.org/W2081347248","https://openalex.org/W2082252833","https://openalex.org/W2092649904","https://openalex.org/W2095103413","https://openalex.org/W2098928970","https://openalex.org/W2109340274","https://openalex.org/W2116764847","https://openalex.org/W2119559506","https://openalex.org/W2119880825","https://openalex.org/W2128047119","https://openalex.org/W2136418123","https://openalex.org/W2149307871","https://openalex.org/W2162974035","https://openalex.org/W2173899871","https://openalex.org/W2235901111","https://openalex.org/W4236158802","https://openalex.org/W4248263185","https://openalex.org/W6657820716"],"related_works":["https://openalex.org/W3148155918","https://openalex.org/W2462682329","https://openalex.org/W2053526712","https://openalex.org/W4206741056","https://openalex.org/W3040595263","https://openalex.org/W1621772017","https://openalex.org/W4239147863","https://openalex.org/W2909855017","https://openalex.org/W2352163239","https://openalex.org/W2264981486"],"abstract_inverted_index":{"Mobile":[0],"robot":[1],"navigation":[2],"through":[3],"natural":[4,26],"terrains":[5,27],"is":[6,40],"a":[7,43],"challenging":[8],"issue":[9],"with":[10],"applications":[11],"such":[12],"as":[13,42],"planetary":[14],"exploration":[15],"or":[16],"search":[17],"and":[18,68],"rescue.":[19],"This":[20],"paper":[21,76],"proposes":[22],"navigability":[23,57],"assessment":[24],"of":[25,37,61,63,70,80,104],"scanned":[28],"from":[29],"ground-based":[30],"3D":[31,65,114],"laser":[32],"rangefinders.":[33],"A":[34],"continuous":[35],"model":[36],"the":[38,52,64,71,75,78,90,101,105],"terrain":[39,56],"obtained":[41],"fuzzy":[44,72],"elevation":[45],"map":[46],"(FEM).":[47],"Based":[48],"on":[49,100,117],"this":[50,81,88],"model,":[51],"proposed":[53],"solution":[54],"incorporates":[55],"both":[58],"in":[59],"terms":[60],"uncertainties":[62],"input":[66],"data":[67],"slope":[69],"surface.":[73],"Moreover,":[74],"discusses":[77],"application":[79],"method":[82,108],"for":[83],"local":[84,98],"path":[85],"planning.":[86],"For":[87],"purpose,":[89],"Bug":[91],"algorithm":[92],"has":[93,109],"been":[94,110],"adapted":[95],"to":[96,112],"compute":[97],"paths":[99],"navigable":[102],"region":[103],"FEM.":[106],"The":[107],"applied":[111],"actual":[113],"point":[115],"clouds":[116],"two":[118],"different":[119],"experimental":[120],"sites.":[121]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}