{"id":"https://openalex.org/W2036806881","doi":"https://doi.org/10.1109/jra.1987.1087091","title":"The ground surveillance robot (GSR): An autonomous vehicle designed to transit unknown terrain","display_name":"The ground surveillance robot (GSR): An autonomous vehicle designed to transit unknown terrain","publication_year":1987,"publication_date":"1987-06-01","ids":{"openalex":"https://openalex.org/W2036806881","doi":"https://doi.org/10.1109/jra.1987.1087091","mag":"2036806881"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087091","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-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/A5109529149","display_name":"S. Y. Harmon","orcid":null},"institutions":[{"id":"https://openalex.org/I283854653","display_name":"Machine Intelligence Research Institute","ror":"https://ror.org/01h4ass90","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I283854653"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. Harmon","raw_affiliation_strings":["Robot Intelligence International, San Diego, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Intelligence International, San Diego, CA, USA","institution_ids":["https://openalex.org/I283854653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5109529149"],"corresponding_institution_ids":["https://openalex.org/I283854653"],"apc_list":null,"apc_paid":null,"fwci":7.7383,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.97064777,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":"3","first_page":"266","last_page":"279"},"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7049577236175537},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5837376117706299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5467090606689453},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5314838886260986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5166497826576233},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5105301141738892},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49621516466140747},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4902086853981018},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.48424312472343445},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4496113955974579},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4355376064777374},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.43444958329200745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4203609526157379},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4109843671321869},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40833550691604614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35192006826400757},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2654293179512024}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7049577236175537},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5837376117706299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5467090606689453},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5314838886260986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5166497826576233},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5105301141738892},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49621516466140747},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4902086853981018},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.48424312472343445},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4496113955974579},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4355376064777374},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43444958329200745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4203609526157379},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4109843671321869},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40833550691604614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35192006826400757},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2654293179512024},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jra.1987.1087091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087091","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1502820991","https://openalex.org/W1513828628","https://openalex.org/W1537809898","https://openalex.org/W1885398499","https://openalex.org/W1905736447","https://openalex.org/W2079610443","https://openalex.org/W2099034771","https://openalex.org/W2101640668","https://openalex.org/W2103120971","https://openalex.org/W2139390199","https://openalex.org/W2144717132","https://openalex.org/W2154418813","https://openalex.org/W2160491021","https://openalex.org/W2177274602","https://openalex.org/W2963026438","https://openalex.org/W6639320706","https://openalex.org/W6681615092"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713","https://openalex.org/W4324119010"],"abstract_inverted_index":{"The":[0,30,93,176],"Ground":[1],"Surveillance":[2],"Robot":[3],"(GSR)":[4],"project":[5],"has":[6,27,33,46,75,183],"proceeded":[7],"continuously":[8],"since":[9],"the":[10,51,142,150,153,158,185,196],"Fall":[11],"of":[12,25,95,152,162,165,191],"1980,":[13],"and":[14,22,39,61,68,83,90,125,201],"in":[15,149,198],"that":[16],"time":[17],"an":[18,188],"autonomous":[19,181],"vehicle":[20,31,66,182],"design":[21,32],"some":[23],"degree":[24],"implementation":[26],"been":[28,34,47,76],"achieved.":[29],"partitioned":[35],"into":[36,87],"sensor,":[37],"control,":[38],"planning":[40,138],"subsystems.":[41,71],"A":[42],"distributed":[43],"blackboard":[44],"scheme":[45],"developed":[48],"which":[49,54,194],"provides":[50],"mechanism":[52],"by":[53,65,78,135],"these":[55,96],"subsystems":[56],"are":[57,63,112,133],"coordinated.":[58],"Vehicle":[59],"position":[60],"orientation":[62],"supplied":[64],"attitude":[67],"navigation":[69],"sensor":[70],"Obstacle":[72],"avoidance":[73,91,107],"capability":[74],"implemented":[77],"fusing":[79],"information":[80,115],"from":[81,116,167,178],"vision":[82,119,123],"acoustic":[84],"ranging":[85,129],"sensors":[86],"local":[88],"goals":[89],"points.":[92],"influence":[94],"points":[97],"is":[98],"combined":[99],"through":[100],"potential":[101],"field":[102],"techniques":[103],"to":[104,140,145,157,174],"accomplish":[105],"obstacle":[106],"control.":[108],"Distant":[109],"terrain":[110],"characteristics":[111,132],"identified":[113],"using":[114],"a":[117,121,126,136,146,163],"gray-level":[118],"system,":[120,124],"color":[122],"computer-controlled":[127],"laser":[128],"sensor.":[130],"These":[131],"used":[134],"general":[137],"engine":[139],"develop":[141],"desired":[143],"path":[144],"visible":[147,171],"goal":[148,160,173],"direction":[151],"final":[154,159],"goal.":[155],"Progress":[156],"consists":[161],"succession":[164],"movements":[166],"one":[168],"distant":[169],"but":[170],"intermediate":[172],"another.":[175],"experience":[177],"implementing":[179],"this":[180],"indicated":[184],"need":[186],"for":[187],"integrated":[189],"set":[190],"debugging":[192],"tools":[193],"make":[195],"faults":[197],"subsystem":[199],"hardware":[200],"software":[202],"more":[203],"distinguishable.":[204]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
