{"id":"https://openalex.org/W4312360880","doi":"https://doi.org/10.1109/lra.2022.3229907","title":"AdaptiveON: Adaptive Outdoor Local Navigation Method for Stable and Reliable Actions","display_name":"AdaptiveON: Adaptive Outdoor Local Navigation Method for Stable and Reliable Actions","publication_year":2022,"publication_date":"2022-12-16","ids":{"openalex":"https://openalex.org/W4312360880","doi":"https://doi.org/10.1109/lra.2022.3229907"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3229907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3229907","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Robotics and Automation Letters","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/A5100676080","display_name":"Jing Liang","orcid":"https://orcid.org/0000-0002-8488-4311"},"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":"Jing Liang","raw_affiliation_strings":["University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-8488-4311","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"],"raw_orcid":null,"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"],"raw_orcid":"https://orcid.org/0000-0002-6892-9778","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/A5086445949","display_name":"Nare Karapetyan","orcid":"https://orcid.org/0000-0002-0947-3408"},"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":"Nare Karapetyan","raw_affiliation_strings":["University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-0947-3408","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"],"raw_orcid":"https://orcid.org/0000-0001-7047-9801","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":5,"corresponding_author_ids":["https://openalex.org/A5100676080"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":1.8367,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.86910373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"2","first_page":"648","last_page":"655"},"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":0.9994999766349792,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.8258898258209229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7242185473442078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6722997426986694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.573350191116333},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5430999398231506},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.5298060178756714},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5163801908493042},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4949764609336853},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4862560033798218},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41002222895622253},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36517566442489624},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3570682108402252},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1838591992855072},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13812419772148132},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11779698729515076}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8258898258209229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7242185473442078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6722997426986694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.573350191116333},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5430999398231506},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.5298060178756714},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5163801908493042},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4949764609336853},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4862560033798218},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41002222895622253},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36517566442489624},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3570682108402252},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1838591992855072},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13812419772148132},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11779698729515076},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3229907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3229907","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1965790673","https://openalex.org/W2117211893","https://openalex.org/W2131439959","https://openalex.org/W2145178709","https://openalex.org/W2158379988","https://openalex.org/W2158400962","https://openalex.org/W2586067474","https://openalex.org/W2605102758","https://openalex.org/W2770898551","https://openalex.org/W2779458783","https://openalex.org/W2809054577","https://openalex.org/W2892245714","https://openalex.org/W2909908358","https://openalex.org/W2911087563","https://openalex.org/W2913921102","https://openalex.org/W2963129648","https://openalex.org/W2963662050","https://openalex.org/W3020825567","https://openalex.org/W3039737909","https://openalex.org/W3045974612","https://openalex.org/W3090345358","https://openalex.org/W3093922502","https://openalex.org/W3095339682","https://openalex.org/W3104876774","https://openalex.org/W3120054209","https://openalex.org/W3126321819","https://openalex.org/W3127756416","https://openalex.org/W3154414473","https://openalex.org/W3175254947","https://openalex.org/W3176530962","https://openalex.org/W3176880374","https://openalex.org/W3203732962","https://openalex.org/W3204691825","https://openalex.org/W4200066496","https://openalex.org/W4285304415","https://openalex.org/W4312360880","https://openalex.org/W4387092523","https://openalex.org/W6733118196","https://openalex.org/W6839015296"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W2381850946","https://openalex.org/W4380449851","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W4386906247","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913"],"abstract_inverted_index":{"We":[0,21,123],"present":[1],"a":[2,15,19,23,55,119],"novel":[3,56],"outdoor":[4,63],"navigation":[5,41,65],"algorithm":[6],"to":[7,13,17,58],"generate":[8],"stable":[9,37,75],"and":[10,27,38,87,102,105,114,130,136,148,170],"efficient":[11],"actions":[12],"navigate":[14],"robot":[16,40,74],"reach":[18],"goal.":[20],"use":[22],"multi-stage":[24],"training":[25,91,106],"pipeline":[26],"show":[28],"that":[29,34],"our":[30,125,142,155],"approach":[31],"produces":[32],"policies":[33],"result":[35],"in":[36,118,127,151],"reliable":[39],"on":[42,46,76,81,163],"complex":[43],"terrains.":[44],"Based":[45],"the":[47,69,73,94,145,152,172],"Proximal":[48],"Policy":[49],"Optimization":[50],"(PPO)":[51],"algorithm,":[52],"we":[53,140],"developed":[54],"method":[57,126,143,156],"achieve":[59],"multiple":[60],"capabilities":[61],"for":[62],"local":[64],"tasks,":[66],"namely":[67],"alleviating":[68],"robot's":[70],"drifting,":[71],"keeping":[72],"bumpy":[77],"terrains,":[78,165],"avoiding":[79,88],"climbing":[80],"hills":[82],"with":[83,107],"steep":[84],"elevation":[85,173],"changes,":[86],"collisions.":[89],"Our":[90],"process":[92],"mitigates":[93],"reality":[95],"(sim-to-real)":[96],"gap":[97],"by":[98,159,168,175],"introducing":[99],"generalized":[100],"environmental":[101],"robotic":[103],"parameters":[104],"rich":[108],"features":[109],"captured":[110],"from":[111],"light":[112],"detection":[113],"ranging":[115],"(Lidar)":[116],"sensor":[117],"high-fidelity":[120],"Unity":[121],"simulator.":[122],"evaluate":[124],"both":[128],"simulation":[129],"real-world":[131],"environments":[132],"using":[133],"Clearpath":[134],"Husky":[135],"Jackal":[137],"robots.":[138],"Further,":[139],"compare":[141],"against":[144],"state-of-the-art":[146],"approaches":[147],"observe":[149],"that,":[150],"real":[153],"world,":[154],"improves":[157],"stability":[158],"at":[160],"least":[161],"30.7%":[162],"uneven":[164],"reduces":[166],"drifting":[167],"8.08%,":[169],"decreases":[171],"changes":[174],"14.75%.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}