{"id":"https://openalex.org/W3003464919","doi":"https://doi.org/10.1109/iros40897.2019.8968276","title":"Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments","display_name":"Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003464919","doi":"https://doi.org/10.1109/iros40897.2019.8968276","mag":"3003464919"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2009.05631","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"David D. Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"David D. Fan","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rohan Thakker","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Thakker","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tara Bartlett","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tara Bartlett","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Meriem Ben Miled","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Meriem Ben Miled","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Leon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leon Kim","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Evangelos Theodorou","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos Theodorou","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology,Atlanta,GA,USA"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology,Atlanta,GA,USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ali-akbar Agha-mohammadi","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":1.1239,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.82831397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3070","last_page":"3077"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9998000264167786,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.7386000156402588},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5425999760627747},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4781999886035919},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.426800012588501},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42640000581741333},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4056999981403351},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38690000772476196},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.36739999055862427}],"concepts":[{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.7386000156402588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5805000066757202},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5425999760627747},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4781999886035919},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.429500013589859},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.426800012588501},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42640000581741333},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4056999981403351},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38690000772476196},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.36739999055862427},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.351500004529953},{"id":"https://openalex.org/C92991967","wikidata":"https://www.wikidata.org/wiki/Q7644329","display_name":"Supervisory control","level":3,"score":0.3402000069618225},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33629998564720154},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3239000141620636},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.3111000061035156},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29789999127388},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2736999988555908},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.26330000162124634},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.257999986410141},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2549000084400177},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25369998812675476}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2009.05631","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.05631","pdf_url":"https://arxiv.org/pdf/2009.05631","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2009.05631","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.05631","pdf_url":"https://arxiv.org/pdf/2009.05631","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1972461284","https://openalex.org/W1973734421","https://openalex.org/W1984088642","https://openalex.org/W1993730936","https://openalex.org/W2011967922","https://openalex.org/W2029143333","https://openalex.org/W2061055587","https://openalex.org/W2065206922","https://openalex.org/W2082430444","https://openalex.org/W2084474153","https://openalex.org/W2085635066","https://openalex.org/W2095514019","https://openalex.org/W2109656638","https://openalex.org/W2113765804","https://openalex.org/W2133844819","https://openalex.org/W2149271580","https://openalex.org/W2160116138","https://openalex.org/W2163132103","https://openalex.org/W2413323843","https://openalex.org/W2535547924","https://openalex.org/W2735858878","https://openalex.org/W2739434881","https://openalex.org/W2744464459","https://openalex.org/W2767797204","https://openalex.org/W2772761907","https://openalex.org/W2895016043","https://openalex.org/W2897872881","https://openalex.org/W2910530029","https://openalex.org/W2964299732","https://openalex.org/W6756486208","https://openalex.org/W6764966030","https://openalex.org/W6766678728"],"related_works":[],"abstract_inverted_index":{"Hybrid":[0],"ground":[1],"and":[2,19,33,67,80],"aerial":[3],"vehicles":[4],"can":[5],"possess":[6],"distinct":[7],"advantages":[8],"over":[9],"ground-only":[10],"or":[11],"flight-only":[12],"designs":[13],"in":[14,86],"terms":[15],"of":[16,35,52],"energy":[17,99],"savings":[18],"increased":[20],"mobility.":[21],"In":[22],"this":[23],"work":[24],"we":[25],"outline":[26],"our":[27],"unified":[28,62],"framework":[29],"for":[30,49,64,83],"controls,":[31],"planning,":[32],"autonomy":[34],"hybrid":[36,55,84,91],"ground/air":[37],"vehicles.":[38,57],"Our":[39],"contribution":[40],"is":[41],"three-fold:":[42],"1)":[43],"We":[44,59,75],"develop":[45],"a":[46,61],"control":[47,51],"scheme":[48],"the":[50],"passive":[53],"two-wheeled":[54],"ground/aerial":[56],"2)":[58],"present":[60],"planner":[63],"both":[65],"rolling":[66],"flying":[68,101],"by":[69],"leveraging":[70,78],"differential":[71],"flatness":[72],"mappings.":[73],"3)":[74],"conduct":[76],"experiments":[77],"mapping":[79],"global":[81],"planning":[82],"mobility":[85,92],"unknown":[87],"environments,":[88],"showing":[89],"that":[90],"uses":[93],"up":[94],"to":[95],"five":[96],"times":[97],"less":[98],"than":[100],"only":[102],"<sup":[103,107],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[104,108],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[105,109],".":[106],"Video":[110],"at":[111],"https://youtu.be/nlGfYehTLpg.":[112]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-02-07T00:00:00"}
