{"id":"https://openalex.org/W2027910383","doi":"https://doi.org/10.1109/robio.2013.6739759","title":"Path selection based on local terrain feature for unmanned ground vehicle in unknown rough terrain environment","display_name":"Path selection based on local terrain feature for unmanned ground vehicle in unknown rough terrain environment","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2027910383","doi":"https://doi.org/10.1109/robio.2013.6739759","mag":"2027910383"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5023927893","display_name":"Masato Kondo","orcid":"https://orcid.org/0000-0002-0090-5817"},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masato Kondo","raw_affiliation_strings":["Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","institution_ids":["https://openalex.org/I1298590031"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035766769","display_name":"Kenji Sunaga","orcid":null},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Sunaga","raw_affiliation_strings":["Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","institution_ids":["https://openalex.org/I1298590031"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080407170","display_name":"Yuichi Kobayashi","orcid":"https://orcid.org/0000-0003-0189-0060"},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichi Kobayashi","raw_affiliation_strings":["Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","institution_ids":["https://openalex.org/I1298590031"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103526851","display_name":"Toru Kaneko","orcid":null},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toru Kaneko","raw_affiliation_strings":["Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shizuoka University, Hamamatsu-shi, Japan","institution_ids":["https://openalex.org/I1298590031"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085750334","display_name":"Yuji Hiramatsu","orcid":null},"institutions":[{"id":"https://openalex.org/I1295929820","display_name":"Yamaha (Japan)","ror":"https://ror.org/05s7fvh27","country_code":"JP","type":"company","lineage":["https://openalex.org/I1295929820"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuji Hiramatsu","raw_affiliation_strings":["Yamaha Motor Co., Ltd., Iwata-shi, Shizuoka, Japan","Yamaha Motor Co., Ltd., Iwata, Japan"],"affiliations":[{"raw_affiliation_string":"Yamaha Motor Co., Ltd., Iwata-shi, Shizuoka, Japan","institution_ids":["https://openalex.org/I1295929820"]},{"raw_affiliation_string":"Yamaha Motor Co., Ltd., Iwata, Japan","institution_ids":["https://openalex.org/I1295929820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001202196","display_name":"Hokuto Fujii","orcid":null},"institutions":[{"id":"https://openalex.org/I1295929820","display_name":"Yamaha (Japan)","ror":"https://ror.org/05s7fvh27","country_code":"JP","type":"company","lineage":["https://openalex.org/I1295929820"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hokuto Fujii","raw_affiliation_strings":["Yamaha Motor Co., Ltd., Iwata-shi, Shizuoka, Japan","Yamaha Motor Co., Ltd., Iwata, Japan"],"affiliations":[{"raw_affiliation_string":"Yamaha Motor Co., Ltd., Iwata-shi, Shizuoka, Japan","institution_ids":["https://openalex.org/I1295929820"]},{"raw_affiliation_string":"Yamaha Motor Co., Ltd., Iwata, Japan","institution_ids":["https://openalex.org/I1295929820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074453969","display_name":"Tsuyoshi Kamiya","orcid":null},"institutions":[{"id":"https://openalex.org/I1295929820","display_name":"Yamaha (Japan)","ror":"https://ror.org/05s7fvh27","country_code":"JP","type":"company","lineage":["https://openalex.org/I1295929820"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsuyoshi Kamiya","raw_affiliation_strings":["Yamaha Motor Co., Ltd., Iwata-shi, Shizuoka, Japan","Yamaha Motor Co., Ltd., Iwata, Japan"],"affiliations":[{"raw_affiliation_string":"Yamaha Motor Co., Ltd., Iwata-shi, Shizuoka, Japan","institution_ids":["https://openalex.org/I1295929820"]},{"raw_affiliation_string":"Yamaha Motor Co., Ltd., Iwata, Japan","institution_ids":["https://openalex.org/I1295929820"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5023927893"],"corresponding_institution_ids":["https://openalex.org/I1298590031"],"apc_list":null,"apc_paid":null,"fwci":0.5529,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70229206,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1977","last_page":"1982"},"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":0.9990000128746033,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9094299077987671},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.8745829463005066},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6585333347320557},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6121737957000732},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6093295812606812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5154626965522766},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.502678632736206},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46817654371261597},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.43714243173599243},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1842159926891327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14827322959899902},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.05300334095954895}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9094299077987671},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.8745829463005066},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6585333347320557},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6121737957000732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6093295812606812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5154626965522766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.502678632736206},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46817654371261597},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.43714243173599243},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1842159926891327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14827322959899902},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.05300334095954895},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"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":2,"locations":[{"id":"doi:10.1109/robio.2013.6739759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.659.1745","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.659.1745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://sensor.eng.shizuoka.ac.jp/pdf/2013/kondoROBIO.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6299999952316284,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1486357714","https://openalex.org/W1982968759","https://openalex.org/W2075349598","https://openalex.org/W2101055367","https://openalex.org/W2116190966","https://openalex.org/W2121863487","https://openalex.org/W2123998235","https://openalex.org/W2131288186","https://openalex.org/W2140428383","https://openalex.org/W2150811685","https://openalex.org/W2150970028","https://openalex.org/W2154844948","https://openalex.org/W2169550417","https://openalex.org/W2289873609","https://openalex.org/W2336416123","https://openalex.org/W4214717370","https://openalex.org/W4235486443","https://openalex.org/W4242811155","https://openalex.org/W6678340937"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2121570796","https://openalex.org/W3150144014","https://openalex.org/W2166449590","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2024135719","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W2027854881"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"an":[5],"autonomous":[6],"navigation":[7,82],"for":[8],"Unmanned":[9],"Ground":[10],"Vehicles":[11],"(UGVs)":[12],"by":[13,85],"a":[14,33,39,42,61,101,117],"path":[15,40,46,51,70,86,119],"selection":[16,87,120],"method":[17,108],"based":[18],"on":[19,100],"local":[20,34,77],"features":[21],"of":[22,44,69,91],"terrain":[23,28,35,78],"in":[24,55,94,114],"unknown":[25,95],"outdoor":[26,96],"rough":[27],"environment.":[29,97],"The":[30],"correlation":[31,75],"between":[32],"feature":[36],"obtained":[37,47],"from":[38,48],"and":[41,103],"value":[43,68],"the":[45,49,67,74,89,106],"global":[50],"planning":[52],"is":[53,65,71,83],"extracted":[54],"advance.":[56],"When":[57],"UGV":[58,81],"comes":[59],"to":[60],"branch":[62],"while":[63],"it":[64],"running,":[66],"estimated":[72],"using":[73],"with":[76,116],"feature.":[79],"Thereby,":[80],"performed":[84],"under":[88],"criterion":[90],"shortest":[92],"time":[93],"We":[98],"experimented":[99],"simulator":[102],"confirmed":[104],"that":[105],"proposed":[107],"can":[109],"select":[110],"more":[111],"effective":[112],"paths":[113],"comparison":[115],"simple":[118],"method.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}