{"id":"https://openalex.org/W4399939205","doi":"https://doi.org/10.1109/lra.2024.3418270","title":"ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments","display_name":"ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4399939205","doi":"https://doi.org/10.1109/lra.2024.3418270"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3418270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3418270","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/A5092506235","display_name":"Mohamed Elnoor","orcid":"https://orcid.org/0009-0000-2326-6184"},"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":"Mohamed Elnoor","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0009-0000-2326-6184","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/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":["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":"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 Electrical and Computer Engineering, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0001-7047-9801","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092506235"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":2.8889,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.9108098,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":"8","first_page":"7190","last_page":"7197"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9904000163078308,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/proprioception","display_name":"Proprioception","score":0.7607004642486572},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5873928666114807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.568506121635437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5103051662445068},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47413063049316406},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4221291244029999},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.33739495277404785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18806609511375427},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08049991726875305}],"concepts":[{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.7607004642486572},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5873928666114807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.568506121635437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5103051662445068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47413063049316406},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4221291244029999},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.33739495277404785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18806609511375427},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08049991726875305},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3418270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3418270","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":41,"referenced_works":["https://openalex.org/W1524024963","https://openalex.org/W1836839941","https://openalex.org/W2117211893","https://openalex.org/W2324604276","https://openalex.org/W2515099907","https://openalex.org/W2772638427","https://openalex.org/W2901522995","https://openalex.org/W2914633272","https://openalex.org/W2924028045","https://openalex.org/W2934335905","https://openalex.org/W2951805468","https://openalex.org/W2967545288","https://openalex.org/W3000916453","https://openalex.org/W3041190052","https://openalex.org/W3080910328","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3109424835","https://openalex.org/W3119263734","https://openalex.org/W3178901079","https://openalex.org/W3205724045","https://openalex.org/W3206742300","https://openalex.org/W4205430897","https://openalex.org/W4226056825","https://openalex.org/W4250058668","https://openalex.org/W4252403930","https://openalex.org/W4285304415","https://openalex.org/W4310746161","https://openalex.org/W4312441173","https://openalex.org/W4312726754","https://openalex.org/W4312895921","https://openalex.org/W4312943646","https://openalex.org/W4360976217","https://openalex.org/W4383108196","https://openalex.org/W4383108436","https://openalex.org/W4386996221","https://openalex.org/W4387092523","https://openalex.org/W4389667035","https://openalex.org/W4393972737","https://openalex.org/W4399939205","https://openalex.org/W6846664724"],"related_works":["https://openalex.org/W2055931545","https://openalex.org/W2061593839","https://openalex.org/W2982344907","https://openalex.org/W2179896740","https://openalex.org/W2023759725","https://openalex.org/W2140354388","https://openalex.org/W2047527229","https://openalex.org/W4399426659","https://openalex.org/W2531162491","https://openalex.org/W2332067308"],"abstract_inverted_index":{"We":[0,102],"propose":[1],"a":[2,28,50],"novel":[3],"method,":[4],"ProNav,":[5],"which":[6,76],"uses":[7,24],"proprioceptive":[8],"signals":[9],"for":[10,17],"traversability":[11],"estimation":[12],"in":[13,92,129,139],"challenging":[14,93],"outdoor":[15],"terrains":[16,94],"autonomous":[18],"legged":[19,29],"robot":[20,71],"navigation.":[21],"Our":[22,82,121],"approach":[23,83],"sensor":[25],"data":[26],"from":[27],"robot's":[30,56],"joint":[31,40],"encoders,":[32],"force,":[33],"and":[34,43,61,95,134],"current":[35,44],"sensors":[36],"to":[37,47,54,73,78,88,98,109,127,136,145],"measure":[38],"the":[39,55,69],"positions,":[41],"forces,":[42],"consumption":[45,143],"respectively":[46],"accurately":[48],"assess":[49],"terrain's":[51],"stability,":[52,75],"resistance":[53],"motion,":[57],"risk":[58],"of":[59,131,141],"entrapment,":[60],"crash.":[62],"Based":[63],"on":[64],"these":[65],"factors,":[66],"we":[67],"compute":[68],"appropriate":[70],"gait":[72],"maximize":[74],"leads":[77],"reduced":[79],"energy":[80,142],"consumption.":[81],"can":[84],"also":[85],"be":[86],"used":[87],"predict":[89],"imminent":[90],"crashes":[91],"execute":[96],"behaviors":[97],"preemptively":[99],"avoid":[100],"them.":[101],"integrate":[103],"ProNav":[104],"with":[105,113],"an":[106,124],"exteroceptive-based":[107,146],"method":[108,122],"navigate":[110],"real-world":[111],"environments":[112],"dense":[114],"vegetation,":[115],"high":[116],"granularity,":[117],"negative":[118],"obstacles,":[119],"etc.":[120],"shows":[123],"improvement":[125],"up":[126,135],"40%":[128],"terms":[130,140],"success":[132],"rate":[133],"15.1%":[137],"reduction":[138],"compared":[144],"methods.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-18T08:16:58.900851","created_date":"2025-10-10T00:00:00"}
