{"id":"https://openalex.org/W2155533714","doi":"https://doi.org/10.1109/robot.2006.1642209","title":"Learning to predict slip for ground robots","display_name":"Learning to predict slip for ground robots","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2155533714","doi":"https://doi.org/10.1109/robot.2006.1642209","mag":"2155533714"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5066709641","display_name":"Anelia Angelova","orcid":"https://orcid.org/0000-0003-1822-7943"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A. Angelova","raw_affiliation_strings":["Computer Science Department, California Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, California Institute of Technology, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036099508","display_name":"Larry Matthies","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":"L. Matthies","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005584446","display_name":"Daniel Helmick","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":"D. Helmick","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110238504","display_name":"G. Sibley","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":"G. Sibley","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026825380","display_name":"Pietro Perona","orcid":"https://orcid.org/0000-0002-7583-5809"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Perona","raw_affiliation_strings":["Electrical Engineering Department, California Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, California Institute of Technology, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066709641"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":9.9662,"has_fulltext":false,"cited_by_count":78,"citation_normalized_percentile":{"value":0.98592458,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3324","last_page":"3331"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9970999956130981,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"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/terrain","display_name":"Terrain","score":0.8863780498504639},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.871121883392334},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.8366227149963379},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.5810349583625793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5472376942634583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5471044182777405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5043367147445679},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.46703335642814636},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4325607419013977},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40569937229156494},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.2644108533859253},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19452568888664246},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1876317858695984},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16157537698745728},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09930157661437988},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09680059552192688}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8863780498504639},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.871121883392334},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.8366227149963379},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.5810349583625793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5472376942634583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5471044182777405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5043367147445679},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.46703335642814636},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4325607419013977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40569937229156494},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.2644108533859253},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19452568888664246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1876317858695984},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16157537698745728},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09930157661437988},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09680059552192688},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1642209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.47999998927116394}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W88093165","https://openalex.org/W120192385","https://openalex.org/W226081487","https://openalex.org/W294030547","https://openalex.org/W1480376833","https://openalex.org/W1490066004","https://openalex.org/W1497270502","https://openalex.org/W1524024963","https://openalex.org/W1544042259","https://openalex.org/W1578483761","https://openalex.org/W1972855608","https://openalex.org/W1976606095","https://openalex.org/W2025653905","https://openalex.org/W2044881365","https://openalex.org/W2093703258","https://openalex.org/W2102145772","https://openalex.org/W2108082645","https://openalex.org/W2113560487","https://openalex.org/W2148164661","https://openalex.org/W2150884987","https://openalex.org/W2155321470","https://openalex.org/W2157237800","https://openalex.org/W2159559414","https://openalex.org/W2166380040","https://openalex.org/W2167804690","https://openalex.org/W2169552307","https://openalex.org/W4210274491","https://openalex.org/W6604967375"],"related_works":["https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W3141131632","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W2084206618","https://openalex.org/W4390637946","https://openalex.org/W2161039994","https://openalex.org/W3167844684"],"abstract_inverted_index":{"In":[0,215],"this":[1,49,216],"paper":[2,217],"we":[3,218],"predict":[4],"the":[5,29,42,46,77,85,101,104,110,118,148,152,194,222,254],"amount":[6],"of":[7,22,31,76,131,154,206],"slip":[8,43,62,106,122,144,169,207,227,243,258],"an":[9],"exploration":[10],"rover":[11,47],"would":[12],"experience":[13,125],"using":[14,94],"stereo":[15],"imagery":[16],"by":[17,45,147,171],"learning":[18,81,121,228],"from":[19,58,70,82,109,123,199],"previous":[20,59,124],"examples":[21,83],"traversing":[23],"similar":[24],"terrain.":[25,161],"To":[26],"do":[27],"that,":[28],"information":[30,72,170],"terrain":[32,178,195,213,233],"appearance":[33,200],"and":[34,139,201,225,229,240],"geometry":[35],"regarding":[36],"some":[37],"location":[38,50],"is":[39,51,56,107,136,145,179,190,197,208,247,251],"correlated":[40],"to":[41,87,89,150,183,253],"measured":[44],"while":[48],"being":[52],"traversed.":[53],"This":[54],"relationship":[55],"learned":[57,209],"experience,":[60],"so":[61],"can":[63,115,126,167],"be":[64],"predicted":[65],"later":[66],"at":[67],"a":[68,159,164,176,203,211],"distance":[69],"visual":[71],"only.":[73],"The":[74,242],"advantages":[75],"approach":[78],"are:":[79],"1)":[80],"allows":[84],"system":[86],"adapt":[88],"unknown":[90],"terrains":[91],"rather":[92],"than":[93],"fixed":[95],"heuristics":[96],"or":[97,133,181],"predefined":[98],"rules;":[99],"2)":[100],"feedback":[102],"about":[103,248],"observed":[105],"received":[108],"vehicle's":[111],"own":[112],"sensors":[113],"which":[114,135,193,250],"fully":[116],"automate":[117],"process;":[119],"3)":[120],"replace":[127],"complex":[128],"mechanical":[129],"modeling":[130],"vehicle":[132],"terrain,":[134],"time":[137],"consuming":[138],"not":[140],"necessarily":[141],"feasible.":[142],"Predicting":[143],"motivated":[146],"need":[149],"assess":[151],"risk":[153],"getting":[155],"trapped":[156],"before":[157],"entering":[158],"particular":[160,212],"For":[162],"example,":[163],"planning":[165],"algorithm":[166],"utilize":[168],"taking":[172],"into":[173],"consideration":[174],"that":[175],"slippery":[177],"costly":[180],"hazardous":[182],"traverse.":[184],"A":[185],"generic":[186],"nonlinear":[187,204],"regression":[188],"framework":[189],"proposed":[191],"in":[192],"type":[196],"determined":[198],"then":[202],"model":[205],"for":[210,232,257],"type.":[214],"focus":[219],"only":[220],"on":[221],"latter":[223],"problem":[224],"provide":[226],"prediction":[230,244],"results":[231],"types,":[234],"such":[235],"as":[236],"soil,":[237],"sand,":[238],"gravel,":[239],"asphalt.":[241],"error":[245],"achieved":[246],"15%":[249],"comparable":[252],"measurement":[255],"errors":[256],"itself":[259]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
