{"id":"https://openalex.org/W4405778991","doi":"https://doi.org/10.1109/iros58592.2024.10801962","title":"AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments","display_name":"AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778991","doi":"https://doi.org/10.1109/iros58592.2024.10801962"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5092506235","display_name":"Mohamed Elnoor","orcid":"https://orcid.org/0009-0000-2326-6184"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohamed Elnoor","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080472165","display_name":"Kasun Weerakoon","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kasun Weerakoon","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013408106","display_name":"Adarsh Jagan Sathyamoorthy","orcid":"https://orcid.org/0000-0002-9678-4748"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adarsh Jagan Sathyamoorthy","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014003390","display_name":"Tianrui Guan","orcid":"https://orcid.org/0000-0002-6892-9778"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianrui Guan","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104263397","display_name":"Vignesh Rajagopal","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vignesh Rajagopal","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5092506235"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":3.7807,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93070647,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7687","last_page":"7694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9952999949455261,"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":0.9952999949455261,"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":0.9944000244140625,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/proprioception","display_name":"Proprioception","score":0.8145637512207031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5946916937828064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5884901285171509},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5312488079071045},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4620615243911743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4298855662345886},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40152508020401},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2486749291419983},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21432358026504517},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.06232896447181702},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0512637197971344}],"concepts":[{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.8145637512207031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5946916937828064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5884901285171509},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5312488079071045},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4620615243911743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4298855662345886},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40152508020401},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2486749291419983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21432358026504517},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.06232896447181702},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0512637197971344}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W560885609","https://openalex.org/W2027461913","https://openalex.org/W2111992298","https://openalex.org/W2117211893","https://openalex.org/W2145813202","https://openalex.org/W2194775991","https://openalex.org/W2271730371","https://openalex.org/W2324000936","https://openalex.org/W2324604276","https://openalex.org/W2773059370","https://openalex.org/W2782061424","https://openalex.org/W2890292358","https://openalex.org/W2914633272","https://openalex.org/W2924028045","https://openalex.org/W2934335905","https://openalex.org/W3002519566","https://openalex.org/W3003922739","https://openalex.org/W3004991469","https://openalex.org/W3005312570","https://openalex.org/W3080910328","https://openalex.org/W3114460273","https://openalex.org/W3126980548","https://openalex.org/W3178901079","https://openalex.org/W3201470660","https://openalex.org/W3204691825","https://openalex.org/W3205724045","https://openalex.org/W3206742300","https://openalex.org/W4205430897","https://openalex.org/W4285304415","https://openalex.org/W4312752326","https://openalex.org/W4312895921","https://openalex.org/W4312939545","https://openalex.org/W4312943646","https://openalex.org/W4360976217","https://openalex.org/W4383108196","https://openalex.org/W4385430650","https://openalex.org/W4386996221","https://openalex.org/W4387092523","https://openalex.org/W4387092535","https://openalex.org/W4389666162","https://openalex.org/W4389667035","https://openalex.org/W4399939205","https://openalex.org/W4400877442","https://openalex.org/W4401344999","https://openalex.org/W4401415435","https://openalex.org/W4401416588","https://openalex.org/W4402354009","https://openalex.org/W4402628181","https://openalex.org/W6846664724","https://openalex.org/W6856683685","https://openalex.org/W6857060602","https://openalex.org/W6857134094","https://openalex.org/W6865246604"],"related_works":["https://openalex.org/W193314751","https://openalex.org/W4253813669","https://openalex.org/W2014373404","https://openalex.org/W2053711990","https://openalex.org/W1593152772","https://openalex.org/W2006407928","https://openalex.org/W2298182222","https://openalex.org/W2792430535","https://openalex.org/W1566120828","https://openalex.org/W2736566061"],"abstract_inverted_index":{"We":[0,200],"present":[1,98,179],"AMCO,":[2],"a":[3,38,49,69,85,92,104,180],"novel":[4,181],"navigation":[5,203,231],"method":[6],"for":[7,54,160,189],"quadruped":[8],"robots":[9],"that":[10,183],"adaptively":[11],"combines":[12],"vision-based":[13],"and":[14,30,41,44,67,87,117,138,145,187,210,218],"proprioception-based":[15],"perception":[16],"capabilities.":[17],"Our":[18],"approach":[19],"uses":[20],"three":[21,149],"cost":[22,52,93,105,150,157,198],"maps:":[23],"general":[24,57,114],"knowledge":[25,58,115],"map;":[26,29,33],"traversability":[27,51,75,118,156,197],"history":[28,76,119],"current":[31,109,230],"proprioception":[32,42,110],"which":[34],"are":[35],"derived":[36],"from":[37,64],"robot\u2019s":[39,80,97],"vision":[40],"data,":[43],"couples":[45],"them":[46],"to":[47,152,220,229],"obtain":[48,153],"coupled":[50,155,196],"map":[53,59,77,106,116,120,158],"navigation.":[55,161],"The":[56,74],"encodes":[60,78],"terrains":[61],"semantically":[62],"segmented":[63],"visual":[65,131],"sensing,":[66],"represents":[68],"terrain\u2019s":[70],"typically":[71],"expected":[72],"traversability.":[73],"the":[79,96,108,113,127,130,136,148,154,166,171,195],"recent":[81],"proprioceptive":[82,99],"measurements":[83],"on":[84,122,170],"terrain":[86],"its":[88],"semantic":[89,123],"segmentation":[90],"as":[91,103],"map.":[94,111,199],"Further,":[95],"measurement":[100],"is":[101],"encoded":[102],"in":[107,205,223],"As":[112],"rely":[121],"segmentation,":[124],"we":[125,178],"evaluate":[126],"reliability":[128],"of":[129,141,225],"sensory":[132],"data":[133],"by":[134],"estimating":[135],"brightness":[137],"motion":[139],"blur":[140],"input":[142,174],"RGB":[143],"images":[144],"accordingly":[146],"combine":[147],"maps":[151],"used":[159],"Leveraging":[162],"this":[163],"adaptive":[164],"coupling,":[165],"robot":[167],"can":[168],"depend":[169],"most":[172],"reliable":[173],"modality":[175],"available.":[176],"Finally,":[177],"planner":[182],"selects":[184],"appropriate":[185],"gaits":[186],"velocities":[188],"traversing":[190],"challenging":[191],"outdoor":[192,208],"environments":[193,209],"using":[194],"demonstrate":[201],"AMCO\u2019s":[202],"performance":[204],"different":[206],"real-world":[207],"observe":[211],"10.8%-34.9%":[212],"reduction":[213],"w.r.t.":[214],"two":[215],"stability":[216],"metrics,":[217],"up":[219],"50%":[221],"improvement":[222],"terms":[224],"success":[226],"rate":[227],"compared":[228],"methods.":[232]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
