{"id":"https://openalex.org/W4312942243","doi":"https://doi.org/10.1109/iros47612.2022.9981179","title":"Optimal and Risk-Aware Path Planning considering Localization Uncertainty for Space Exploration Rovers","display_name":"Optimal and Risk-Aware Path Planning considering Localization Uncertainty for Space Exploration Rovers","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312942243","doi":"https://doi.org/10.1109/iros47612.2022.9981179"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981179","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981179","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbilu.uni.lu/handle/10993/57807","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043462676","display_name":"J. Ricardo S\u00e1nchez-Ib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0002-5130-3808"},"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":true,"raw_author_name":"J. Ricardo S\u00e1nchez-Ib\u00e1\u00f1ez","raw_affiliation_strings":["University of Malaga,Space Robotics Laboratory Dpt. of Systems Engineering and Automation,Malaga,Spain","Space Robotics Laboratory Dpt. of Systems Engineering and Automation, University of Malaga, Malaga, Spain"],"affiliations":[{"raw_affiliation_string":"University of Malaga,Space Robotics Laboratory Dpt. of Systems Engineering and Automation,Malaga,Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Space Robotics Laboratory Dpt. of Systems Engineering and Automation, University of Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026564061","display_name":"Pedro J. Sanchez-Cuevas","orcid":"https://orcid.org/0000-0001-9791-4148"},"institutions":[{"id":"https://openalex.org/I4210137040","display_name":"Center for Advanced Aerospace Technologies","ror":"https://ror.org/03meb8t18","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210137040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pedro J. Sanchez-Cuevas","raw_affiliation_strings":["Advanced Centre for Aerospace Technologies (CATEC) Seville,Spain","Advanced Centre for Aerospace Technologies (CATEC) Seville, Spain"],"affiliations":[{"raw_affiliation_string":"Advanced Centre for Aerospace Technologies (CATEC) Seville,Spain","institution_ids":["https://openalex.org/I4210137040"]},{"raw_affiliation_string":"Advanced Centre for Aerospace Technologies (CATEC) Seville, Spain","institution_ids":["https://openalex.org/I4210137040"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085280731","display_name":"Miguel Olivares-Mendez","orcid":"https://orcid.org/0000-0001-8824-3231"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Miguel Olivares-Mendez","raw_affiliation_strings":["Reliability and Trust (SnT), University of Luxembourg,Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security,Luxembourg","Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg"],"affiliations":[{"raw_affiliation_string":"Reliability and Trust (SnT), University of Luxembourg,Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security,Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"Space Robotics (SpaceR) Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5043462676"],"corresponding_institution_ids":["https://openalex.org/I82767444"],"apc_list":null,"apc_paid":null,"fwci":0.2399,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60145444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4092","last_page":"4099"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8298371434211731},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6430449485778809},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6393739581108093},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6387798190116882},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.601128339767456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5976661443710327},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.48349693417549133},{"id":"https://openalex.org/keywords/space-exploration","display_name":"Space exploration","score":0.4795389175415039},{"id":"https://openalex.org/keywords/fast-marching-method","display_name":"Fast marching method","score":0.4616256058216095},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40968823432922363},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37831059098243713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35114485025405884},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35058724880218506},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3433002233505249},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2667303681373596},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25237610936164856},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2194553017616272},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13196727633476257},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10996150970458984},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09448152780532837}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8298371434211731},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6430449485778809},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6393739581108093},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6387798190116882},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.601128339767456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5976661443710327},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.48349693417549133},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.4795389175415039},{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.4616256058216095},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40968823432922363},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37831059098243713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35114485025405884},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35058724880218506},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3433002233505249},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2667303681373596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25237610936164856},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2194553017616272},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13196727633476257},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10996150970458984},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09448152780532837},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981179","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981179","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/57807","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/57807","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan [JP], 23-10-2022 => 27-10-2022","raw_type":"peer reviewed"}],"best_oa_location":{"id":"pmh:oai:orbilu.uni.lu:10993/57807","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/57807","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan [JP], 23-10-2022 => 27-10-2022","raw_type":"peer reviewed"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1238092070","https://openalex.org/W1535896976","https://openalex.org/W1612997784","https://openalex.org/W1999131722","https://openalex.org/W2020169086","https://openalex.org/W2035616271","https://openalex.org/W2054113582","https://openalex.org/W2055811883","https://openalex.org/W2069537876","https://openalex.org/W2090840593","https://openalex.org/W2091790851","https://openalex.org/W2120179083","https://openalex.org/W2154416327","https://openalex.org/W2476917595","https://openalex.org/W2503852597","https://openalex.org/W2557741120","https://openalex.org/W2588511229","https://openalex.org/W2730780157","https://openalex.org/W2753263537","https://openalex.org/W2898231767","https://openalex.org/W2910505090","https://openalex.org/W2993826828","https://openalex.org/W3001538587","https://openalex.org/W3003697734","https://openalex.org/W3009046684","https://openalex.org/W3009942643","https://openalex.org/W3080523071","https://openalex.org/W3089700794","https://openalex.org/W3090108585","https://openalex.org/W3098201584","https://openalex.org/W3105748494","https://openalex.org/W3158652289","https://openalex.org/W3188101290","https://openalex.org/W4243425824","https://openalex.org/W4246614213","https://openalex.org/W6637218738","https://openalex.org/W6678081342","https://openalex.org/W6794526071"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2946737911"],"abstract_inverted_index":{"The":[0,92],"reliability":[1],"of":[2,5,16,22,55,64,106,117],"autonomous":[3],"traverses":[4],"rovers":[6],"is":[7,36],"critical.":[8],"It":[9],"may":[10],"be":[11],"jeopardized":[12],"by":[13],"the":[14,19,40,61,85,89,95,96,111],"accumulation":[15],"errors":[17],"and":[18,33,42,80,88,109,125],"uncertainty":[20,79,108],"propagation":[21],"their":[23],"localization":[24,78],"systems.":[25],"Moreover,":[26],"space":[27],"environments":[28],"are":[29],"usually":[30],"harsh,":[31],"challenging":[32],"unpredictable.":[34],"Teleoperation":[35],"complex":[37],"due":[38],"to":[39,101],"significant":[41],"unavoidable":[43],"delay.":[44],"For":[45],"these":[46],"reasons,":[47],"a":[48,71,82,103,115,128,133],"path":[49,72,90,113],"planner":[50,93],"that":[51,75],"provides":[52],"some":[53],"level":[54,116],"autonomy":[56],"with":[57],"guarantees":[58],"could":[59],"increase":[60],"success":[62],"rate":[63],"planetary":[65],"exploration":[66],"missions.":[67],"This":[68,119],"paper":[69,120],"proposes":[70],"planning":[73],"solution":[74],"tackles":[76],"increasing":[77],"makes":[81],"trade-off":[83],"between":[84],"collision":[86],"risk":[87],"length.":[91],"uses":[94],"Fast":[97],"Marching":[98],"Method":[99],"(FMM)":[100],"produce":[102],"costmap":[104],"aware":[105],"this":[107],"calculate":[110],"optimal":[112],"for":[114],"confidence.":[118],"additionally":[121],"presents":[122],"several":[123],"simulation":[124],"experimental":[126],"using":[127],"wheeled":[129],"robotic":[130],"vehicle":[131],"within":[132],"lunar":[134],"analogue":[135],"facility.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
