{"id":"https://openalex.org/W2136778238","doi":"https://doi.org/10.1109/robot.2002.1013635","title":"Multi-range traversability indices for terrain-based navigation","display_name":"Multi-range traversability indices for terrain-based navigation","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2136778238","doi":"https://doi.org/10.1109/robot.2002.1013635","mag":"2136778238"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1013635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5027386319","display_name":"H. Seraji","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Seraji","raw_affiliation_strings":["California Institute of Technology, NASN Jet Propulsion Laboratory, Pasadena, CA, USA","NASA Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, NASN Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111383977","display_name":"B. Bon","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Bon","raw_affiliation_strings":["California Institute of Technology, NASN Jet Propulsion Laboratory, Pasadena, CA, USA","NASA Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, NASN Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":49.8402,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.9949067,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"2674","last_page":"2681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9621999859809875,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7877405881881714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.614628255367279},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6061608791351318},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4758679270744324},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40324026346206665},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17444390058517456},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1130061149597168},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09446623921394348},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0781964659690857}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7877405881881714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.614628255367279},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6061608791351318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4758679270744324},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40324026346206665},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17444390058517456},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1130061149597168},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09446623921394348},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0781964659690857}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2002.1013635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.98.5202","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.98.5202","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/11950/1/02-0680.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1563055131","https://openalex.org/W1953361974","https://openalex.org/W1996354202","https://openalex.org/W2002111712","https://openalex.org/W2026336946","https://openalex.org/W2095897920","https://openalex.org/W2099065300","https://openalex.org/W2111996998","https://openalex.org/W2133326333","https://openalex.org/W2157887010","https://openalex.org/W2914825457"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Presents":[0],"novel":[1],"measures":[2],"of":[3,26,67,164],"terrain":[4,57,69,87,198],"traversability":[5,15,19,51,81,110,159],"at":[6],"three":[7,165],"different":[8],"ranges,":[9],"namely":[10,168],"local,":[11,169],"regional":[12,50,72,170],"and":[13,32,59,90,102,171,196],"global":[14,80,106,172],"indices.":[16],"The":[17,48,79,158,200],"local":[18,30,37],"index":[20,52,82,111],"is":[21,53,83,91,112],"related,":[22],"by":[23,41,76,114],"a":[24,36,46,71,86,146,151,155,162,180],"set":[25],"linguistic":[27,119],"rules,":[28],"to":[29,126,144,183],"obstacles":[31,195],"surface":[33,97],"softness":[34],"within":[35,70,104],"perception":[38,73,107],"range,":[39],"measured":[40],"on-board":[42,77],"sensors":[43],"mounted":[44],"on":[45,93],"robot.":[47],"rule-based":[49],"computed":[54],"from":[55,64,85],"the":[56,68,105,186,190],"roughness":[58],"slope":[60],"that":[61,128,185],"are":[62,129,142,177],"expected":[63],"video":[65],"images":[66],"range":[74],"obtained":[75,84],"cameras.":[78],"topographic":[88],"map,":[89],"based":[92],"natural":[94],"or":[95,135],"man-made":[96],"features,":[98],"such":[99],"as":[100],"mountains":[101],"craters,":[103],"range.":[108],"Each":[109],"represented":[113],"four":[115],"fuzzy":[116],"sets":[117],"with":[118,179,203],"labels":[120],"{poor,":[121],"low,":[122],"moderate,":[123],"high},":[124],"corresponding":[125],"surfaces":[127],"unsafe,":[130,132],"moderately":[131,133],"safe":[134,136],"for":[137,150],"traversal,":[138],"respectively.":[139],"These":[140,175],"indices":[141,160],"used":[143],"develop":[145],"behavior-based":[147],"navigation":[148,166],"strategy":[149],"mobile":[152,187],"robot":[153,188],"traversing":[154],"challenging":[156],"terrain.":[157],"form":[161],"basis":[163],"behaviors,":[167],"traversal":[173],"behaviors.":[174],"behaviors":[176],"integrated":[178],"goal-seeking":[181],"behavior":[182],"ensure":[184],"reaches":[189],"goal":[191],"safely":[192],"while":[193],"avoiding":[194],"impassable":[197],"segments.":[199],"paper":[201],"concludes":[202],"an":[204],"illustrative":[205],"graphical":[206],"simulation":[207],"study.":[208]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
