{"id":"https://openalex.org/W4312941421","doi":"https://doi.org/10.1109/iros47612.2022.9982136","title":"Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains","display_name":"Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312941421","doi":"https://doi.org/10.1109/iros47612.2022.9982136"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982136","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":"conference-paper","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/A5026863248","display_name":"Troy McMahon","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Troy McMahon","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA","Dept. of Computer Science, Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Dept. of Computer Science, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054223596","display_name":"Aravind Sivaramakrishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aravind Sivaramakrishnan","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA","Dept. of Computer Science, Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Dept. of Computer Science, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006844131","display_name":"Kushal Kedia","orcid":"https://orcid.org/0000-0002-1941-4882"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kushal Kedia","raw_affiliation_strings":["Indian Institute of Technology,Kharagpur","Indian Institute of Technology, Kharagpur"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,Kharagpur","institution_ids":["https://openalex.org/I145894827"]},{"raw_affiliation_string":"Indian Institute of Technology, Kharagpur","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067291308","display_name":"Edgar Granados","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edgar Granados","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA","Dept. of Computer Science, Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Dept. of Computer Science, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA","Dept. of Computer Science, Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Dept. of Computer Science, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":null,"first_page":"2925","last_page":"2930"},"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":0.9944999814033508,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/terrain","display_name":"Terrain","score":0.7767747640609741},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6947065591812134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6137374639511108},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6089263558387756},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.576903760433197},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.573033332824707},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5287100076675415},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.438618004322052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4263017773628235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4262259602546692},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33821994066238403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2466963529586792},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13022106885910034},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06988629698753357}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7767747640609741},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6947065591812134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6137374639511108},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6089263558387756},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.576903760433197},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.573033332824707},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5287100076675415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.438618004322052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4263017773628235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4262259602546692},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33821994066238403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2466963529586792},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13022106885910034},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06988629698753357},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982136","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":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1742473997","https://openalex.org/W1971086298","https://openalex.org/W1974581510","https://openalex.org/W2000359213","https://openalex.org/W2042613867","https://openalex.org/W2054585537","https://openalex.org/W2082764616","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2171266831","https://openalex.org/W2248868695","https://openalex.org/W2296073425","https://openalex.org/W2781726626","https://openalex.org/W2794029453","https://openalex.org/W2910893906","https://openalex.org/W2927564896","https://openalex.org/W2962917939","https://openalex.org/W2963439114","https://openalex.org/W2963572779","https://openalex.org/W2963645756","https://openalex.org/W3004207898","https://openalex.org/W3010768390","https://openalex.org/W3011646207","https://openalex.org/W3047385205","https://openalex.org/W3089866190","https://openalex.org/W3091091967","https://openalex.org/W3127756416","https://openalex.org/W3129762237","https://openalex.org/W3181484951","https://openalex.org/W3206157858","https://openalex.org/W4295312788","https://openalex.org/W4300799055","https://openalex.org/W6637922210","https://openalex.org/W6740801417","https://openalex.org/W6747473740","https://openalex.org/W6766978945","https://openalex.org/W6767548108","https://openalex.org/W6781492122"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4285089922","https://openalex.org/W4226082913"],"abstract_inverted_index":{"This":[0,63],"paper":[1],"explores":[2],"learning":[3],"an":[4,74,219],"effective":[5],"controller":[6,28,137,168,203],"for":[7,14,24,32,101,123,126,131,135,223],"improving":[8],"the":[9,22,26,56,59,70,84,102,110,114,136,146,165,170,176,198,208,211,224],"efficiency":[10],"of":[11,58,73,112,152,158,200,210,218],"kinodynamic":[12,77],"planning":[13,34,148],"vehicular":[15],"systems":[16],"navigating":[17],"uneven":[18],"terrains.":[19,161],"It":[20,91,162],"describes":[21],"pipeline":[23],"training":[25,37,221],"corresponding":[27],"and":[29,169,188],"using":[30],"it":[31],"motion":[33,180],"purposes.":[35],"The":[36,117,141],"process":[38,72,222],"uses":[39],"a":[40,50,97,105,156,201],"soft":[41],"actor-critic":[42],"approach":[43],"with":[44,189],"hindsight":[45],"experience":[46],"replay":[47],"to":[48,79,86,95,138,182],"train":[49],"model,":[51],"which":[52],"is":[53,66,92,120,205],"parameterized":[54,206],"by":[55,207],"incline":[57,209],"robot's":[60,212],"local":[61,89,133,213],"terrain.":[62],"trained":[64],"model":[65,178],"then":[67],"used":[68,94,121],"during":[69],"expansion":[71,127],"asymptotically":[75],"optimal":[76],"planner":[78,103],"generate":[80],"controls":[81],"that":[82,108,164,204],"allow":[83],"robot":[85],"reach":[87],"desired":[88],"states.":[90],"also":[93],"define":[96],"heuristic":[98],"cost-to-go":[99,118,177],"function":[100,119,173],"via":[104],"wavefront":[106,172],"operation":[107],"estimates":[109],"cost":[111,191],"reaching":[113],"global":[115],"goal.":[116],"both":[122],"selecting":[124],"nodes":[125],"as":[128,130,215,217],"well":[129,216],"generating":[132],"goals":[134],"expand":[139],"towards.":[140],"accompanying":[142],"experimental":[143],"section":[144],"applies":[145],"integrated":[147],"solution":[149],"on":[150,175],"models":[151],"all-terrain":[153],"robots":[154],"in":[155,185],"variety":[157],"physically":[159],"simulated":[160],"shows":[163],"proposed":[166,171],"terrain-aware":[167],"based":[174],"enable":[179],"planners":[181],"find":[183],"solutions":[184],"less":[186],"time":[187],"lower":[190],"than":[192],"alternatives.":[193],"An":[194],"ablation":[195],"study":[196],"emphasizes":[197],"benefits":[199],"learned":[202],"terrain":[214],"incremental":[220],"controller.":[225]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}