{"id":"https://openalex.org/W4387092523","doi":"https://doi.org/10.1109/lra.2023.3320013","title":"GrASPE: Graph Based Multimodal Fusion for Robot Navigation in Outdoor Environments","display_name":"GrASPE: Graph Based Multimodal Fusion for Robot Navigation in Outdoor Environments","publication_year":2023,"publication_date":"2023-09-27","ids":{"openalex":"https://openalex.org/W4387092523","doi":"https://doi.org/10.1109/lra.2023.3320013"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3320013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3320013","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/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":true,"raw_author_name":"Kasun Weerakoon","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-6526-8652","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013408106","display_name":"Adarsh Jagan Sathyamoorthy","orcid":"https://orcid.org/0000-0002-9678-4748"},"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":"Adarsh Jagan Sathyamoorthy","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-9678-4748","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","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":false,"raw_author_name":"Jing Liang","raw_affiliation_strings":["Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-8488-4311","affiliations":[{"raw_affiliation_string":"Department of Computer Science, 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":["Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-6892-9778","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034886591","display_name":"Utsav Patel","orcid":"https://orcid.org/0000-0003-0631-9787"},"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":"Utsav Patel","raw_affiliation_strings":["Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0003-0631-9787","affiliations":[{"raw_affiliation_string":"Department of Computer Science, 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":["Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0001-7047-9801","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5080472165"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":2.5904,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.91695597,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"12","first_page":"8090","last_page":"8097"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9961000084877014,"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":0.9922000169754028,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6838804483413696},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.635132908821106},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5690728425979614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5515038967132568},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5269097685813904},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4948689341545105},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.48251625895500183},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.45983240008354187},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44536274671554565},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3184104561805725}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6838804483413696},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.635132908821106},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5690728425979614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5515038967132568},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5269097685813904},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4948689341545105},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.48251625895500183},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.45983240008354187},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44536274671554565},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3184104561805725},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3320013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3320013","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":[{"score":0.5099999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1999269896","https://openalex.org/W2117211893","https://openalex.org/W2170282673","https://openalex.org/W2194775991","https://openalex.org/W2296228853","https://openalex.org/W2560609797","https://openalex.org/W2781729746","https://openalex.org/W2787740662","https://openalex.org/W2793324358","https://openalex.org/W2794762188","https://openalex.org/W2797862627","https://openalex.org/W2884585870","https://openalex.org/W2899160681","https://openalex.org/W2903355255","https://openalex.org/W2907492528","https://openalex.org/W2924028045","https://openalex.org/W2964015378","https://openalex.org/W2967657713","https://openalex.org/W2985331920","https://openalex.org/W3000916453","https://openalex.org/W3003922739","https://openalex.org/W3006295588","https://openalex.org/W3009311889","https://openalex.org/W3015235064","https://openalex.org/W3034543232","https://openalex.org/W3110913339","https://openalex.org/W3117945981","https://openalex.org/W3127756416","https://openalex.org/W3129397256","https://openalex.org/W3134348556","https://openalex.org/W3192660112","https://openalex.org/W3204691825","https://openalex.org/W3206164009","https://openalex.org/W4213452319","https://openalex.org/W4285102351","https://openalex.org/W4285304415","https://openalex.org/W4287888303","https://openalex.org/W4312726754","https://openalex.org/W4323566497","https://openalex.org/W6726873649","https://openalex.org/W6748402259","https://openalex.org/W6753412334","https://openalex.org/W6763422710","https://openalex.org/W6786697239"],"related_works":["https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W1969991288","https://openalex.org/W4200210047","https://openalex.org/W2614963770","https://openalex.org/W2980469219","https://openalex.org/W287737911","https://openalex.org/W2551663027","https://openalex.org/W1511332864","https://openalex.org/W1665215014"],"abstract_inverted_index":{"We":[0,17,51,89,170,184],"present":[1],"a":[2,35,68,142,177],"novel":[3],"trajectory":[4,86],"traversability":[5],"estimation":[6],"and":[7,28,64,100,105,149,196],"planning":[8],"algorithm":[9,152],"for":[10],"robot":[11,179],"navigation":[12,174,193,207],"in":[13,96,122,166,180,190,201],"complex":[14,167],"outdoor":[15,168,182],"environments.":[16,169,183],"incorporate":[18],"multimodal":[19],"sensory":[20,55],"inputs":[21,56,131],"from":[22],"an":[23,78,186],"RGB":[24],"camera,":[25],"3D":[26],"LiDAR,":[27],"the":[29,92,97,114,117,134,138,205],"robot's":[30],"odometry":[31],"sensor":[32,49,160],"to":[33,38,57,76,84,108,112,132,145,198,204],"train":[34,77],"prediction":[36],"model":[37,128],"estimate":[39],"candidate":[40],"trajectories'":[41],"success":[42,87,135,194],"probabilities":[43,136],"based":[44],"on":[45],"partially":[46],"reliable":[47],"multi-modal":[48,54],"observations.":[50],"encode":[52],"high-dimensional":[53],"low-dimensional":[58],"feature":[59,118],"vectors":[60],"using":[61,176],"encoder":[62],"networks":[63],"represent":[65],"them":[66],"as":[67],"connected":[69],"graph.":[70],"The":[71],"graph":[72,119],"is":[73],"then":[74],"used":[75,121],"attention-based":[79],"Graph":[80],"Neural":[81],"Network":[82],"(GNN)":[83],"predict":[85,133],"probabilities.":[88],"further":[90],"analyze":[91],"number":[93],"of":[94,116,137,188,192],"features":[95],"image":[98],"(corners)":[99],"point":[101],"cloud":[102],"data":[103],"(edges":[104],"planes)":[106],"separately":[107],"quantify":[109],"their":[110],"reliability":[111],"augment":[113],"weights":[115],"representation":[120],"our":[123,127,172],"GNN.":[124],"During":[125],"runtime,":[126],"utilizes":[129],"multi-sensor":[130],"trajectories":[139],"generated":[140],"by":[141],"local":[143],"planner":[144],"avoid":[146],"potential":[147],"collisions":[148],"failures.":[150],"Our":[151],"demonstrates":[153],"robust":[154],"predictions":[155],"when":[156],"one":[157],"or":[158,164],"more":[159],"modalities":[161],"are":[162],"unreliable":[163],"unavailable":[165],"evaluate":[171],"algorithm's":[173],"performance":[175],"Spot":[178],"real-world":[181],"observe":[185],"increase":[187,200],"10-30%":[189],"terms":[191],"rate":[195],"up":[197],"15%":[199],"AU-ROC":[202],"compared":[203],"state-of-the-art":[206],"methods.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"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"}