{"id":"https://openalex.org/W2043389781","doi":"https://doi.org/10.1109/iros.2014.6942634","title":"Real-time autonomous 3D navigation for tracked vehicles in rescue environments","display_name":"Real-time autonomous 3D navigation for tracked vehicles in rescue environments","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2043389781","doi":"https://doi.org/10.1109/iros.2014.6942634","mag":"2043389781"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942634","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5014055465","display_name":"Matteo Menna","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Matteo Menna","raw_affiliation_strings":["ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy"],"affiliations":[{"raw_affiliation_string":"ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039006047","display_name":"Mario Gianni","orcid":"https://orcid.org/0000-0001-5410-2377"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mario Gianni","raw_affiliation_strings":["ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy"],"affiliations":[{"raw_affiliation_string":"ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103473750","display_name":"Federico Ferri","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Ferri","raw_affiliation_strings":["ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy"],"affiliations":[{"raw_affiliation_string":"ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016025950","display_name":"Fiora Pirri","orcid":"https://orcid.org/0000-0001-8665-9807"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fiora Pirri","raw_affiliation_strings":["ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy"],"affiliations":[{"raw_affiliation_string":"ALCOR, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"ALCOR, Vision, Perception and Cognitive Robotics Laboratory, DIAG, University of Rome \u2018La Sapienza\u2019, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014055465"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":85.7306,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.99738116,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"696","last_page":"702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.991599977016449,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7478758692741394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6825987100601196},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6698051691055298},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5602754354476929},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5205339193344116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49749401211738586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48364460468292236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4601929485797882},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4564315378665924},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.4449707865715027},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.43476593494415283},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4309757947921753},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41304218769073486},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3739285469055176},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12468495965003967}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7478758692741394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6825987100601196},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6698051691055298},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5602754354476929},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5205339193344116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49749401211738586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48364460468292236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4601929485797882},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4564315378665924},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.4449707865715027},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.43476593494415283},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4309757947921753},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41304218769073486},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3739285469055176},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12468495965003967},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2014.6942634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942634","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/645452","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/645452","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5400000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W33577463","https://openalex.org/W432920974","https://openalex.org/W1585381382","https://openalex.org/W1607533321","https://openalex.org/W1953793983","https://openalex.org/W1969483458","https://openalex.org/W1972267259","https://openalex.org/W2000346242","https://openalex.org/W2095275732","https://openalex.org/W2096246174","https://openalex.org/W2100816864","https://openalex.org/W2101343911","https://openalex.org/W2106296899","https://openalex.org/W2106533364","https://openalex.org/W2109945199","https://openalex.org/W2123566281","https://openalex.org/W2135150356","https://openalex.org/W2138071556","https://openalex.org/W2156067790","https://openalex.org/W2157246496","https://openalex.org/W2159711224","https://openalex.org/W2165649407","https://openalex.org/W2167272056","https://openalex.org/W2169528473","https://openalex.org/W2294319407","https://openalex.org/W4214886506","https://openalex.org/W6615146575","https://openalex.org/W6636450498","https://openalex.org/W6674472862","https://openalex.org/W6676600194","https://openalex.org/W6683714418"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344"],"abstract_inverted_index":{"The":[0,13],"paper":[1],"presents":[2],"a":[3,61,71],"novel":[4],"framework":[5,14,44],"for":[6,10],"3D":[7,27,79],"autonomous":[8,26],"navigation":[9],"tracked":[11],"vehicles.":[12],"takes":[15],"care":[16],"of":[17,21],"clustering":[18],"and":[19,32,69],"segmentation":[20],"point":[22],"clouds,":[23],"traversability":[24],"analysis,":[25],"path":[28,80],"planning,":[29],"motion":[30],"planning":[31,81],"flippers":[33],"control.":[34],"Results":[35],"illustrated":[36],"in":[37,55,60,70],"an":[38],"experiment":[39],"section":[40],"show":[41],"that":[42],"the":[43],"is":[45,53],"promising":[46],"to":[47,77],"face":[48],"harsh":[49],"terrains.":[50],"Robot":[51],"performance":[52],"proved":[54],"three":[56],"main":[57],"experiments":[58],"taken":[59],"training":[62],"rescue":[63],"area,":[64],"on":[65],"fire":[66],"escape":[67],"stairs":[68],"non-planar":[72],"testing":[73],"environment,":[74],"built":[75],"ad-hoc":[76],"prove":[78],"functionalities.":[82],"Performance":[83],"tests":[84],"are":[85],"also":[86],"presented.":[87]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2016-06-24T00:00:00"}