{"id":"https://openalex.org/W4416750279","doi":"https://doi.org/10.1109/iros60139.2025.11246357","title":"Blind-Wayfarer: A Minimalist, Probing-Driven Framework for Resilient Navigation in Perception-Degraded Environments","display_name":"Blind-Wayfarer: A Minimalist, Probing-Driven Framework for Resilient Navigation in Perception-Degraded Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750279","doi":"https://doi.org/10.1109/iros60139.2025.11246357"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5003463350","display_name":"Yanran Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanran Xu","raw_affiliation_strings":["University of Southampton,School of Electronics and Computer Science,Southampton,U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton,School of Electronics and Computer Science,Southampton,U.K","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004916607","display_name":"Klaus\u2010Peter Zauner","orcid":null},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Klaus-Peter Zauner","raw_affiliation_strings":["University of Southampton,School of Electronics and Computer Science,Southampton,U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton,School of Electronics and Computer Science,Southampton,U.K","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046917969","display_name":"Danesh Tarapore","orcid":"https://orcid.org/0000-0002-3226-6861"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Danesh Tarapore","raw_affiliation_strings":["University of Southampton,School of Electronics and Computer Science,Southampton,U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton,School of Electronics and Computer Science,Southampton,U.K","institution_ids":["https://openalex.org/I43439940"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43439940"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39607103,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"19340","last_page":"19345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.424699991941452,"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":0.424699991941452,"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":0.17190000414848328,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.09709999710321426,"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/traverse","display_name":"Traverse","score":0.7940999865531921},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.758899986743927},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7078999876976013},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5999000072479248},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4713999927043915},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4442000091075897},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4108999967575073},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.34389999508857727}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7940999865531921},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.758899986743927},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7078999876976013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6244000196456909},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5999000072479248},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5234000086784363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5012999773025513},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4713999927043915},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4442000091075897},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4108999967575073},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.34389999508857727},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3294000029563904},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32339999079704285},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.30790001153945923},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3034999966621399},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2777000069618225},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27410000562667847},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2056901560","https://openalex.org/W2098412395","https://openalex.org/W2101502731","https://openalex.org/W2112510830","https://openalex.org/W2167708614","https://openalex.org/W2794712769","https://openalex.org/W2962787639","https://openalex.org/W3036870931","https://openalex.org/W3091084109","https://openalex.org/W3098650412","https://openalex.org/W3127756416","https://openalex.org/W3188485279","https://openalex.org/W3207515629","https://openalex.org/W4312939545","https://openalex.org/W4318824528","https://openalex.org/W4389610189","https://openalex.org/W4389667035","https://openalex.org/W4399374702","https://openalex.org/W4401415435","https://openalex.org/W4401416030","https://openalex.org/W4401417431","https://openalex.org/W4415593538"],"related_works":[],"abstract_inverted_index":{"Navigating":[0],"autonomous":[1],"robots":[2],"through":[3],"dense":[4,93],"forests":[5],"and":[6,17,126],"rugged":[7],"terrains":[8],"is":[9],"especially":[10],"daunting":[11],"when":[12],"exteroceptive":[13],"sensors\u2014such":[14],"as":[15],"cameras":[16],"LiDAR":[18],"sensors\u2014":[19],"fail":[20],"under":[21],"occlusions,":[22],"low-light":[23],"conditions,":[24],"or":[25],"sensor":[26],"noise.":[27],"We":[28],"present":[29],"Blind-Wayfarer,":[30],"a":[31,43,58,88,92,103],"probing-driven":[32],"navigation":[33,119],"framework":[34,85],"inspired":[35],"by":[36],"maze-solving":[37],"algorithms":[38],"that":[39],"relies":[40],"primarily":[41],"on":[42,130],"compass":[44],"to":[45,90,102],"robustly":[46],"traverse":[47],"complex,":[48],"unstructured":[49],"environments.":[50],"In":[51,62],"1,000":[52],"simulated":[53],"forest":[54,77,101],"experiments,":[55],"Blind-Wayfarer":[56],"achieved":[57],"99.7%":[59],"success":[60],"rate.":[61],"real-world":[63],"tests":[64],"in":[65,79,120],"two":[66],"distinct":[67],"scenarios\u2014with":[68],"rover":[69],"platforms":[70],"of":[71,114],"different":[72],"sizes\u2014our":[73],"approach":[74],"successfully":[75],"escaped":[76],"entrapments":[78],"all":[80],"20":[81],"trials.":[82],"Remarkably,":[83],"our":[84,131],"also":[86],"enabled":[87],"robot":[89],"escape":[91],"woodland,":[94],"traveling":[95],"from":[96],"45":[97],"m":[98],"inside":[99],"the":[100,112],"paved":[104],"pathway":[105],"at":[106],"its":[107],"edge.":[108],"These":[109],"findings":[110],"highlight":[111],"potential":[113],"probing-based":[115],"methods":[116],"for":[117],"reliable":[118],"challenging":[121],"perception-degraded":[122],"field":[123],"conditions.":[124],"Videos":[125],"code":[127],"are":[128],"available":[129],"website":[132],"https://sites.google.com/view/blind-wayfarer":[133]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}