{"id":"https://openalex.org/W4405785466","doi":"https://doi.org/10.1109/iros58592.2024.10802459","title":"PARE: A Plane-Assisted Autonomous Robot Exploration Framework in Unknown and Uneven Terrain","display_name":"PARE: A Plane-Assisted Autonomous Robot Exploration Framework in Unknown and Uneven Terrain","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785466","doi":"https://doi.org/10.1109/iros58592.2024.10802459"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802459","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":"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/A5043802038","display_name":"Pu Xu","orcid":"https://orcid.org/0000-0002-6980-6956"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pu Xu","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhaoqiang Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoqiang Bai","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100705420","display_name":"Haoming Liu","orcid":"https://orcid.org/0009-0003-7960-8114"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoming Liu","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064687463","display_name":"Zheng Fang","orcid":"https://orcid.org/0000-0003-3887-3141"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Fang","raw_affiliation_strings":["Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11707","last_page":"11714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9950000047683716,"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":0.9950000047683716,"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":0.9814000129699707,"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/T12288","display_name":"Optimization and Search Problems","score":0.9610999822616577,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8344097137451172},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6602968573570251},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.574738621711731},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.551374614238739},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4517676830291748},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4150678813457489},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3819469213485718},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38132330775260925},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.33150532841682434},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1830841302871704},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10463312268257141}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8344097137451172},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6602968573570251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.574738621711731},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.551374614238739},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4517676830291748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4150678813457489},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3819469213485718},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38132330775260925},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.33150532841682434},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1830841302871704},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10463312268257141}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802459","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802459","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W123086243","https://openalex.org/W2027296962","https://openalex.org/W2038488525","https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2145364790","https://openalex.org/W2157272178","https://openalex.org/W2172103629","https://openalex.org/W2552165419","https://openalex.org/W2600201730","https://openalex.org/W2739036405","https://openalex.org/W2769990600","https://openalex.org/W2809054577","https://openalex.org/W2810754063","https://openalex.org/W2889942734","https://openalex.org/W2912372166","https://openalex.org/W2955486192","https://openalex.org/W2963080995","https://openalex.org/W2973864946","https://openalex.org/W3006305332","https://openalex.org/W3090360675","https://openalex.org/W3097090618","https://openalex.org/W3133648073","https://openalex.org/W3176634028","https://openalex.org/W4200079766","https://openalex.org/W4206165650","https://openalex.org/W4210727445","https://openalex.org/W4244256632","https://openalex.org/W4312270149","https://openalex.org/W4315750730"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2402852349"],"abstract_inverted_index":{"Identifying":[0],"traversable":[1],"areas":[2,51],"is":[3,78,151,179],"a":[4,61,82,87,103,136,173,195],"critical":[5],"task":[6],"for":[7,27],"unmanned":[8],"vehicles":[9],"exploring":[10],"safely":[11],"through":[12],"unstructured":[13],"environments.":[14],"In":[15],"practice,":[16],"the":[17,53,108,124,131,155,160,164,168,190],"ambiguity":[18],"in":[19,30,48,52,222],"perceiving":[20],"terrain":[21,99,125],"traversability":[22],"usually":[23],"brings":[24],"great":[25],"challenges":[26],"autonomous":[28,63,74],"exploration":[29,65,95,138,170,187,199,223],"unknown":[31],"and":[32,72,101,117,142,163,203],"uneven":[33],"terrain,":[34],"which":[35],"often":[36],"leads":[37],"to":[38,68,122,128,153,181,193],"conservative":[39],"strategies":[40],"or":[41],"potential":[42],"risk":[43],"of":[44,198,218],"vehicle":[45],"damage,":[46],"resulting":[47],"many":[49],"unexplored":[50,183],"environment.":[54],"To":[55],"that":[56,207],"end,":[57],"this":[58],"paper":[59],"proposes":[60],"plane-assisted":[62],"robot":[64],"framework":[66,139],"(PARE)":[67],"achieve":[69],"maximum":[70],"volume":[71],"safe":[73],"exploration.":[75],"The":[76],"process":[77],"carried":[79],"out":[80],"by":[81,158,177],"three-step":[83],"dual-layer":[84,137],"framework:":[85],"constructing":[86],"local":[88,141,146,169,191],"tree":[89,192],"using":[90],"Plane-Assisted":[91],"RRT*":[92],"(PA-RRT*),":[93],"calculating":[94],"gain":[96,166,188],"based":[97,148],"on":[98,149],"information,":[100],"maintaining":[102],"global":[104,143,174],"search":[105],"graph.":[106],"Firstly,":[107],"planar":[109,161],"feature":[110],"metrics":[111],"(flatness,":[112],"sparsity,":[113],"elevation":[114],"variation,":[115],"slope":[116,118],"variation)":[119],"are":[120],"introduced":[121],"determine":[123],"traversability.":[126],"Secondly,":[127],"completely":[129],"explore":[130],"rugged":[132],"environment,":[133],"we":[134],"propose":[135],"comprising":[140],"strategies.":[144],"A":[145],"planner":[147,175],"PA-RRT*":[150],"proposed":[152,180],"find":[154],"best":[156],"path":[157],"evaluating":[159],"information":[162],"volumetric":[165],"within":[167],"tree.":[171],"Meanwhile,":[172],"constructed":[176],"graph":[178],"record":[182],"nodes":[184],"with":[185,214],"high":[186,196],"from":[189],"ensure":[194],"level":[197],"volume.":[200,224],"Extensive":[201],"simulation":[202],"real-world":[204],"experiments":[205],"demonstrate":[206],"our":[208],"method":[209],"significantly":[210],"outperforms":[211],"existing":[212],"frameworks,":[213],"an":[215],"average":[216],"improvement":[217],"more":[219],"than":[220],"12%":[221]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
