{"id":"https://openalex.org/W4312462349","doi":"https://doi.org/10.1109/iros47612.2022.9981647","title":"Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots","display_name":"Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312462349","doi":"https://doi.org/10.1109/iros47612.2022.9981647"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981647","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034351824","display_name":"Fetullah Atas","orcid":null},"institutions":[{"id":"https://openalex.org/I54108979","display_name":"Norwegian University of Life Sciences","ror":"https://ror.org/04a1mvv97","country_code":"NO","type":"education","lineage":["https://openalex.org/I54108979"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Fetullah Atas","raw_affiliation_strings":["Norwegian University of Life Sciences"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Life Sciences","institution_ids":["https://openalex.org/I54108979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036667542","display_name":"Grzegorz Cielniak","orcid":"https://orcid.org/0000-0002-6299-8465"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Grzegorz Cielniak","raw_affiliation_strings":["University of Lincoln"],"affiliations":[{"raw_affiliation_string":"University of Lincoln","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013278366","display_name":"Lars Grimstad","orcid":null},"institutions":[{"id":"https://openalex.org/I54108979","display_name":"Norwegian University of Life Sciences","ror":"https://ror.org/04a1mvv97","country_code":"NO","type":"education","lineage":["https://openalex.org/I54108979"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Lars Grimstad","raw_affiliation_strings":["Norwegian University of Life Sciences"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Life Sciences","institution_ids":["https://openalex.org/I54108979"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034351824"],"corresponding_institution_ids":["https://openalex.org/I54108979"],"apc_list":null,"apc_paid":null,"fwci":0.839,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81812348,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5715","last_page":"5721"},"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9937999844551086,"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/computer-science","display_name":"Computer science","score":0.7052195072174072},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6812792420387268},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6499022245407104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6280356645584106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6221753358840942},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5968040227890015},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5803399682044983},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5417713522911072},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5293002128601074},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5048280358314514},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43553245067596436},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33188924193382263},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2675034999847412},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10625308752059937}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7052195072174072},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6812792420387268},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6499022245407104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6280356645584106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6221753358840942},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5968040227890015},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5803399682044983},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5417713522911072},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5293002128601074},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5048280358314514},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43553245067596436},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33188924193382263},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2675034999847412},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10625308752059937},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981647","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1971998222","https://openalex.org/W1972267259","https://openalex.org/W1974868116","https://openalex.org/W2110762409","https://openalex.org/W2152864241","https://openalex.org/W2158037930","https://openalex.org/W2313274380","https://openalex.org/W2765432161","https://openalex.org/W2773432235","https://openalex.org/W2909908358","https://openalex.org/W2963032934","https://openalex.org/W2968879799","https://openalex.org/W3007469703","https://openalex.org/W3011355693","https://openalex.org/W3129245057","https://openalex.org/W3133018151","https://openalex.org/W4253729359","https://openalex.org/W6628896000"],"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/W4285089922","https://openalex.org/W2157678966"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,16,41],"new":[4],"method":[5,25,114,164],"for":[6,61,94,115,139],"robot":[7,42,116,151],"motion":[8,45],"planning":[9,46,143],"and":[10,37,84,104,120,144],"navigation":[11,31,65,117],"in":[12,118],"uneven":[13,63],"environments":[14],"through":[15],"surfel":[17],"representation":[18],"of":[19,29,40,97,111,161],"underlying":[20],"point":[21,68,90],"clouds.":[22],"The":[23,124],"proposed":[24,113,125,163],"addresses":[26],"the":[27,51,95,109,112,162,167],"shortcomings":[28],"state-of-the-art":[30],"methods":[32],"by":[33,131],"incorporating":[34],"both":[35],"kinematic":[36],"physical":[38],"constraints":[39],"with":[43],"standard":[44],"algorithms":[47],"(e.g.,":[48],"those":[49],"from":[50],"Open":[52],"Motion":[53],"Planning":[54],"Library),":[55],"thus":[56],"enabling":[57],"efficient":[58],"sampling-based":[59],"planners":[60],"challenging":[62,140],"terrain":[64,142],"on":[66,74,88],"raw":[67,89],"cloud":[69,91],"maps.":[70],"Unlike":[71],"techniques":[72],"based":[73,87],"Digital":[75],"Elevation":[76],"Maps":[77],"(DEMs),":[78],"our":[79,148],"novel":[80],"surfel-based":[81,149],"state-space":[82],"formulation":[83],"implementation":[85,160],"are":[86],"maps,":[92],"allowing":[93],"modeling":[96],"overlapping":[98],"surfaces":[99],"such":[100],"as":[101],"bridges,":[102],"piers,":[103],"tunnels.":[105],"Experimental":[106],"results":[107],"demonstrate":[108],"robustness":[110],"real":[119],"simulated":[121],"unstructured":[122,141],"environments.":[123],"approach":[126],"also":[127],"optimizes":[128],"planners'":[129],"performances":[130],"boosting":[132],"their":[133],"success":[134],"rates":[135],"up":[136],"to":[137,147,165],"5x":[138],"navigation,":[145],"thanks":[146],"approach's":[150],"constraint-aware":[152],"sampling":[153],"strategy.":[154],"Finally,":[155],"we":[156],"provide":[157],"an":[158],"open-source":[159],"benefit":[166],"robotics":[168],"community.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}