{"id":"https://openalex.org/W4386495331","doi":"https://doi.org/10.1109/lra.2023.3313052","title":"Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees","display_name":"Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees","publication_year":2023,"publication_date":"2023-09-07","ids":{"openalex":"https://openalex.org/W4386495331","doi":"https://doi.org/10.1109/lra.2023.3313052"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3313052","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313052","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10243138.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10243138.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006175185","display_name":"Alessio De Luca","orcid":"https://orcid.org/0000-0002-2854-6000"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessio De Luca","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","DIBRIS, University of Genoa, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2854-6000","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"DIBRIS, University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072560467","display_name":"Luca Muratore","orcid":"https://orcid.org/0000-0002-1265-3370"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Muratore","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1265-3370","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9877-8237","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006175185"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":1.7739,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83944207,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"8","issue":"10","first_page":"6803","last_page":"6810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9908000230789185,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9905999898910522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7208262085914612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7046249508857727},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7001745700836182},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6868982315063477},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6643695831298828},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6451288461685181},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5954357981681824},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.58717280626297},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5255804657936096},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5155979990959167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4591604471206665},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44905805587768555},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44258803129196167},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.42138880491256714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1657603681087494},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09925052523612976}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7208262085914612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7046249508857727},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7001745700836182},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6868982315063477},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6643695831298828},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6451288461685181},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5954357981681824},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.58717280626297},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5255804657936096},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5155979990959167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4591604471206665},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44905805587768555},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44258803129196167},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.42138880491256714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1657603681087494},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09925052523612976},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2023.3313052","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313052","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10243138.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:iris.unige.it:11567/1143297","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1143297","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:zenodo.org:10521969","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2023.3313052","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.5281/zenodo.13834535","is_oa":true,"landing_page_url":"https://doi.org/10.5281/zenodo.13834535","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3313052","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313052","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10243138.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4219559521","display_name":null,"funder_award_id":"101016007","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6460893282","display_name":null,"funder_award_id":"F/190042/01-03/X44 RELAX","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386495331.pdf","grobid_xml":"https://content.openalex.org/works/W4386495331.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W2006010000","https://openalex.org/W2007425681","https://openalex.org/W2139710904","https://openalex.org/W2154139861","https://openalex.org/W2211672088","https://openalex.org/W2345626358","https://openalex.org/W2410621027","https://openalex.org/W2572948921","https://openalex.org/W2784947652","https://openalex.org/W2809054577","https://openalex.org/W2912365230","https://openalex.org/W2914735249","https://openalex.org/W2952867577","https://openalex.org/W2968694796","https://openalex.org/W2981852284","https://openalex.org/W3024044737","https://openalex.org/W3033530826","https://openalex.org/W3091308832","https://openalex.org/W3102994022","https://openalex.org/W3103345480","https://openalex.org/W3130733935","https://openalex.org/W3145123113","https://openalex.org/W3157485280","https://openalex.org/W3202635279","https://openalex.org/W3207448739","https://openalex.org/W4220859184","https://openalex.org/W4312453053","https://openalex.org/W4312810827","https://openalex.org/W4321438960","https://openalex.org/W6605295560","https://openalex.org/W6683620479"],"related_works":["https://openalex.org/W4294690775","https://openalex.org/W4389574494","https://openalex.org/W4200195314","https://openalex.org/W2156329176","https://openalex.org/W4285089922","https://openalex.org/W4285102152","https://openalex.org/W3005657145","https://openalex.org/W3139820740","https://openalex.org/W2793035520","https://openalex.org/W1643150164"],"abstract_inverted_index":{"Performing":[0],"autonomous":[1,93,154],"navigation":[2,94],"in":[3,47,130,141,161],"cluttered":[4,135],"and":[5,15,58,107,133,140],"unstructured":[6],"terrains":[7,50],"still":[8],"remains":[9],"a":[10,22,86,103],"challenging":[11,49],"task":[12],"for":[13,92],"legged":[14,59],"wheeled":[16,57],"mobile":[17],"robots.":[18,97],"To":[19],"accomplish":[20],"such":[21],"task,":[23],"online":[24,88],"planners":[25],"shall":[26],"incorporate":[27],"new":[28],"terrain":[29],"information":[30],"perceived":[31],"while":[32],"the":[33,53,61,66,120,123,145],"robot":[34,147],"is":[35,100],"moving":[36],"within":[37],"its":[38],"environment.":[39],"While":[40],"hybrid":[41,63,89],"mobility":[42,67],"robots":[43],"offer":[44],"high":[45],"flexibility":[46],"traversing":[48],"by":[51,102],"leveraging":[52],"advantages":[54],"of":[55,65,74,122,163],"both":[56,72],"locomotion,":[60],"effective":[62],"planning":[64],"actions":[68],"that":[69],"transparently":[70],"combine":[71],"modes":[73],"locomotion":[75],"has":[76],"not":[77],"been":[78],"extensively":[79],"explored.":[80],"In":[81],"this":[82],"work,":[83],"we":[84,152],"present":[85],"hierarchical":[87],"primitive-based":[90],"planner":[91,166],"with":[95,116],"wheeled-legged":[96],"The":[98,126],"framework":[99,127],"handled":[101],"Behavior":[104],"Tree":[105],"(BT)":[106],"it":[108],"takes":[109],"into":[110],"account":[111],"recovery":[112],"methods":[113],"to":[114],"deal":[115],"possible":[117],"failures":[118],"during":[119],"execution":[121],"navigation/mobility":[124],"plan.":[125],"was":[128],"evaluated":[129],"multiple":[131],"irregular":[132],"heavily":[134],"simulated":[136],"environments":[137],"randomly":[138],"generated":[139],"real-world":[142],"trials,":[143],"using":[144],"CENTAURO":[146],"platform.":[148],"With":[149],"these":[150],"experiments,":[151],"demonstrated":[153],"capabilities":[155],"without":[156],"any":[157],"human":[158],"intervention,":[159],"even":[160],"case":[162],"collision":[164],"or":[165],"failures.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}