{"id":"https://openalex.org/W2774787870","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215332","title":"Speed-invariant terrain roughness classification and control based on inertial sensors","display_name":"Speed-invariant terrain roughness classification and control based on inertial sensors","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2774787870","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215332","mag":"2774787870"},"language":"en","primary_location":{"id":"doi:10.1109/sbr-lars-r.2017.8215332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","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/A5004181756","display_name":"Felipe G. Oliveira","orcid":"https://orcid.org/0000-0002-5435-0933"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Felipe G. Oliveira","raw_affiliation_strings":["Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090956481","display_name":"\u00c9lerson R. S. Santos","orcid":"https://orcid.org/0000-0002-8431-3439"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Elerson R. S. Santos","raw_affiliation_strings":["Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083656237","display_name":"Armando Alves Neto","orcid":"https://orcid.org/0000-0002-4940-0377"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Armando Alves Neto","raw_affiliation_strings":["Department of Electronic Engineering, Universidade Federal de Minas Gerais, MG, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015111328","display_name":"M\u00e1rio F. M. Campos","orcid":"https://orcid.org/0000-0002-8336-9190"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mario F. M. Campos","raw_affiliation_strings":["Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074933369","display_name":"Douglas G. Macharet","orcid":"https://orcid.org/0000-0002-1781-7186"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Douglas G. Macharet","raw_affiliation_strings":["Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004181756"],"corresponding_institution_ids":["https://openalex.org/I110200422"],"apc_list":null,"apc_paid":null,"fwci":19.5689,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.987772,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.992900013923645,"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":0.992900013923645,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8580496311187744},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.698185384273529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6538339257240295},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6140432953834534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5902956128120422},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5246051549911499},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5123856663703918},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4722309112548828},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.41043755412101746},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3258455991744995},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13738036155700684}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8580496311187744},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.698185384273529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6538339257240295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6140432953834534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5902956128120422},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5246051549911499},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5123856663703918},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4722309112548828},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.41043755412101746},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3258455991744995},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13738036155700684},{"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},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr-lars-r.2017.8215332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1484387568","https://openalex.org/W1777970608","https://openalex.org/W2009906883","https://openalex.org/W2075681963","https://openalex.org/W2099337339","https://openalex.org/W2145813202","https://openalex.org/W2171330795","https://openalex.org/W2319961868","https://openalex.org/W2410216954","https://openalex.org/W2413995699","https://openalex.org/W2611243847","https://openalex.org/W4214587036"],"related_works":["https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W4250716077","https://openalex.org/W4247347568","https://openalex.org/W4313886815","https://openalex.org/W2024124515","https://openalex.org/W2773722138","https://openalex.org/W2038183074"],"abstract_inverted_index":{"Nowadays,":[0],"it":[1],"is":[2,37,62],"notorious":[3],"the":[4,18,28,31,60,76,79,88,91,109,113,122,160,164,177,181,185],"increasing":[5],"use":[6,81,103],"of":[7,30,34,46,59,75,112,134,163],"autonomous":[8],"vehicles":[9],"in":[10,51,78,187],"different":[11,136,157],"outdoor":[12,54],"field":[13],"applications":[14],"such":[15],"as":[16],"agriculture,":[17],"mining":[19],"industry,":[20],"environmental":[21],"monitoring,":[22],"among":[23],"others.":[24],"In":[25,125],"this":[26,126],"context,":[27],"determination":[29],"traversability":[32],"level":[33],"a":[35,38,130,173],"terrain":[36,182,194],"fundamental":[39],"task":[40],"for":[41,156],"safe":[42],"and":[43,67,96],"efficient":[44],"navigation":[45],"Autonomous":[47],"Ground":[48],"Vehicles":[49],"(AGVs)":[50],"unstructured":[52],"unknown":[53],"environments.":[55],"Information":[56],"like":[57],"roughness":[58,110],"ground":[61,89],"important":[63],"when":[64],"velocity":[65],"control":[66],"other":[68],"dynamic":[69],"issues":[70],"are":[71],"concerned.":[72],"However,":[73],"most":[74],"techniques":[77],"literature":[80],"camera":[82],"or":[83],"lidar":[84],"sensors":[85,106],"to":[86,94,107,121,175,180,189],"evaluate":[87],"around":[90],"robot,":[92],"leading":[93],"complex":[95],"high":[97],"cost":[98],"systems.":[99],"More":[100],"simpler":[101],"methods":[102],"only":[104,139],"inertial":[105],"estimate":[108],"properties":[111],"terrain,":[114],"however":[115],"they":[116],"can":[117],"be":[118],"very":[119],"sensitive":[120],"robot's":[123],"speed.":[124],"paper,":[127],"we":[128],"propose":[129],"novel":[131],"classifier":[132],"capable":[133],"cluster":[135],"terrains":[137],"based":[138],"on":[140],"acceleration":[141],"data":[142],"provided":[143],"by":[144,184],"an":[145],"Inertial":[146],"Measurement":[147],"Unit":[148],"(IMU).":[149],"We":[150],"demonstrate":[151],"with":[152],"real-world":[153],"experiments":[154],"that,":[155],"forward":[158],"velocities,":[159],"mean":[161],"accuracy":[162],"classification":[165],"exceeds":[166],"80":[167],"%.":[168],"Our":[169],"method":[170],"also":[171],"incorporates":[172],"controller":[174],"regulate":[176],"speed":[178],"according":[179],"identified":[183],"robot":[186],"order":[188],"avoid":[190],"abrupt":[191],"movements":[192],"over":[193],"changes.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
