{"id":"https://openalex.org/W1597319648","doi":"https://doi.org/10.1109/robot.2003.1241958","title":"Simplified navigation and traverse planning for a long-range planetary rover","display_name":"Simplified navigation and traverse planning for a long-range planetary rover","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W1597319648","doi":"https://doi.org/10.1109/robot.2003.1241958","mag":"1597319648"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5080262277","display_name":"David Miller","orcid":"https://orcid.org/0000-0003-2408-845X"},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.P. Miller","raw_affiliation_strings":["Aerospace & Mechanical Engineering, University of Oklahama, Norman, OK, USA","Dept. of Aerosp. & Mech. Eng., Oklahoma Univ., Norman, OK, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace & Mechanical Engineering, University of Oklahama, Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]},{"raw_affiliation_string":"Dept. of Aerosp. & Mech. Eng., Oklahoma Univ., Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072363911","display_name":"Liguo Tan","orcid":"https://orcid.org/0000-0002-4916-3105"},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Tan","raw_affiliation_strings":["Aerospace & Mechanical Engineering, University of Oklahama, Norman, OK, USA","Dept. of Aerosp. & Mech. Eng., Oklahoma Univ., Norman, OK, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace & Mechanical Engineering, University of Oklahama, Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]},{"raw_affiliation_string":"Dept. of Aerosp. & Mech. Eng., Oklahoma Univ., Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000233470","display_name":"S. Swindell","orcid":null},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Swindell","raw_affiliation_strings":["Computer Science, University of Oklahama, Norman, OK, USA","Dept. of Aerosp. & Mech. Eng., Oklahoma Univ., Norman, OK, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science, University of Oklahama, Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]},{"raw_affiliation_string":"Dept. of Aerosp. & Mech. Eng., Oklahoma Univ., Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8692664"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2436","last_page":"2441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10325","display_name":"Astro and Planetary Science","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9929999709129333,"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":0.8620893955230713},{"id":"https://openalex.org/keywords/mars-rover","display_name":"Mars rover","score":0.7863283157348633},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7798898220062256},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7279582619667053},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.686182975769043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.517393946647644},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4375460743904114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42893803119659424},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4127448797225952},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.35417914390563965},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2627182602882385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2514326274394989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23990470170974731},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17374718189239502},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.17367491126060486},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.14480376243591309},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06885793805122375}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8620893955230713},{"id":"https://openalex.org/C2781266219","wikidata":"https://www.wikidata.org/wiki/Q389459","display_name":"Mars rover","level":3,"score":0.7863283157348633},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7798898220062256},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7279582619667053},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.686182975769043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.517393946647644},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4375460743904114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42893803119659424},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4127448797225952},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.35417914390563965},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2627182602882385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2514326274394989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23990470170974731},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17374718189239502},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.17367491126060486},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.14480376243591309},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06885793805122375},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1241958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.7.9495","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.7.9495","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.kipr.org/dpm/../papers/icra03.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":8,"referenced_works":["https://openalex.org/W92341453","https://openalex.org/W165406808","https://openalex.org/W1507570714","https://openalex.org/W2080493775","https://openalex.org/W2097856935","https://openalex.org/W6603733225","https://openalex.org/W6606725008","https://openalex.org/W6630293308"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W4285089922","https://openalex.org/W2747605113","https://openalex.org/W1530334193","https://openalex.org/W2145813202"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,26,81,125],"sensor":[4],"and":[5,63,66,101,152],"control":[6,22,44,74],"system":[7,23,45,75,84],"for":[8,118],"SR2,":[9],"a":[10,34,49,67,95,121,143,155],"planetary":[11],"rover":[12,27,96,147],"prototype":[13],"capable":[14],"of":[15,36,51,59,132],"km+/day":[16],"traverses":[17],"through":[18,129],"Mars-like":[19,31],"terrain.":[20],"The":[21,43,73,140],"described":[24],"allowed":[25],"to":[28,85,99,102,116,136],"successfully":[29],"navigate":[30],"terrain":[32,135],"given":[33],"set":[35],"way-points":[37],"spaced":[38],"approximately":[39],"100":[40],"m":[41],"apart.":[42],"uses":[46],"input":[47],"from":[48,69],"variety":[50],"sensors":[52],"including":[53],"heading,":[54],"roll,":[55],"pitch,":[56],"an":[57],"array":[58],"proximity":[60],"sensors,":[61,65],"voltage":[62],"current":[64],"depth":[68],"stereo":[70],"camera":[71],"system.":[72],"is":[76,97,106,142],"adequate,":[77],"when":[78,104],"combined":[79],"with":[80],"rover's":[82],"mobility":[83],"make":[86],"its":[87,138],"way":[88],"over":[89],"or":[90],"around":[91],"almost":[92],"all":[93],"hazards":[94],"likely":[98],"encounter,":[100],"know":[103],"it":[105,114],"getting":[107],"diverted":[108],"so":[109],"far":[110],"off":[111],"course":[112],"that":[113,148],"needs":[115],"ask":[117],"help.":[119],"In":[120],"recent":[122],"field":[123],"test,":[124],"robot":[126],"autonomously":[127],"navigated":[128],"1.3":[130],"km":[131],"Mars":[133],"like":[134],"reach":[137],"goal.":[139],"SR2":[141],"solar":[144],"powered,":[145],"four-wheeled":[146],"masses":[149],"21":[150],"kg":[151],"fits":[153],"inside":[154],"90/spl":[156],"times/65/spl":[157],"times/40":[158],"cm":[159],"envelope.":[160]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}