{"id":"https://openalex.org/W4391677960","doi":"https://doi.org/10.1109/sii58957.2024.10417395","title":"Path Planning Considering Energy Consumption of Crawler Robots in Mountain Environments","display_name":"Path Planning Considering Energy Consumption of Crawler Robots in Mountain Environments","publication_year":2024,"publication_date":"2024-01-08","ids":{"openalex":"https://openalex.org/W4391677960","doi":"https://doi.org/10.1109/sii58957.2024.10417395"},"language":"en","primary_location":{"id":"doi:10.1109/sii58957.2024.10417395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","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/A5113103957","display_name":"N. Adachi","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"N. Adachi","raw_affiliation_strings":["Graduate School of Science and Technology, Degree Programs in Systems and Infomation Engineering, University of Tsukuba,Tsukuba,Ibaraki,Japan,3058577"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Degree Programs in Systems and Infomation Engineering, University of Tsukuba,Tsukuba,Ibaraki,Japan,3058577","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030262835","display_name":"Hisashi DATE","orcid":"https://orcid.org/0000-0002-7103-7025"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Date","raw_affiliation_strings":["Graduate School of Science and Technology, Degree Programs in Systems and Infomation Engineering, University of Tsukuba,Tsukuba,Ibaraki,Japan,3058577"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Degree Programs in Systems and Infomation Engineering, University of Tsukuba,Tsukuba,Ibaraki,Japan,3058577","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113103957"],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":0.2624,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46027773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"79","last_page":"84"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9937999844551086,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/web-crawler","display_name":"Web crawler","score":0.868628740310669},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7183517217636108},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6933000087738037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6577541828155518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5877843499183655},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5805380940437317},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.508349597454071},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4176233112812042},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24564197659492493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23134633898735046},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.11586260795593262},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10935407876968384},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08569833636283875},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0636204183101654}],"concepts":[{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.868628740310669},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7183517217636108},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6933000087738037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6577541828155518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5877843499183655},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5805380940437317},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.508349597454071},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4176233112812042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24564197659492493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23134633898735046},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.11586260795593262},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10935407876968384},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08569833636283875},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0636204183101654},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii58957.2024.10417395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417395","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1970071808","https://openalex.org/W1976248618","https://openalex.org/W2017708378","https://openalex.org/W2614564353","https://openalex.org/W2802829163","https://openalex.org/W2915816881","https://openalex.org/W3082989376","https://openalex.org/W4391186999"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231","https://openalex.org/W2150982344","https://openalex.org/W4292862729"],"abstract_inverted_index":{"In":[0],"the":[1,4,13,19,44,55,71,80,84,95,104,111,119,127,139,143,157,167,172,178,201],"forestry":[2],"industry,":[3],"demand":[5],"for":[6,23,49,54,132,164,214],"task":[7],"automation":[8],"is":[9,99,198],"increasing":[10],"to":[11,88,94,101,122,130,174],"solve":[12],"labor":[14],"shortage":[15],"problem.":[16,124],"We":[17,41,109,137],"examine":[18],"path":[20,47,168,207],"planning":[21,48,169],"problem":[22,45,67],"tasks":[24],"such":[25],"as":[26,103,118],"afforestation,":[27],"harvesting,":[28],"and":[29,77,98,148,194],"surveying,":[30],"in":[31,61,79],"which":[32],"a":[33,36,58,151,206,215],"robot":[34,60,144],"travels":[35],"predetermined":[37],"set":[38],"of":[39,46,51,57,70,142,166,185],"locations.":[40],"specifically":[42],"address":[43],"minimization":[50],"energy":[52,72,85,133,140,158,210],"consumption":[53,134,141,159,211],"operation":[56],"crawler":[59,96],"an":[62,186],"environment":[63],"with":[64,191],"slopes.":[65],"This":[66,125],"requires":[68],"consideration":[69],"loss":[73,86],"caused":[74],"by":[75,170,212],"ascending":[76],"descending":[78],"mountainous":[81],"environment,":[82],"besides":[83],"due":[87],"friction":[89],"during":[90,135,145],"on-the-spot":[91],"rotation":[92],"specific":[93],"robot,":[97],"impossible":[100],"treat":[102],"standard":[105,216],"Traveling":[106,113],"Salesman":[107,114],"Problem(TSP).":[108],"apply":[110],"Generalized":[112],"Problem":[115],"(GTSP)":[116],"known":[117],"TSP":[120,217],"extension":[121],"this":[123],"allows":[126],"proposed":[128,202],"method":[129,203],"account":[131],"movement.":[136],"modeled":[138],"straight":[146],"movements":[147],"rotations":[149],"through":[150],"preliminary":[152],"experiment.":[153],"A":[154],"graph":[155],"reflecting":[156],"model":[160],"can":[161,204],"be":[162,175],"generated":[163],"evaluation":[165],"setting":[171],"points":[173],"traversed":[176],"on":[177],"point":[179],"cloud":[180],"map":[181],"after":[182],"3D":[183],"scanning":[184],"outdoor":[187],"unstructured":[188],"terrain":[189],"field":[190],"flat":[192],"ground":[193],"sloped":[195],"ground.":[196],"It":[197],"confirmed":[199],"that":[200,208,219],"plan":[205],"reduces":[209],"22%":[213],"solution":[218],"quasi-minimizes":[220],"Euclidean":[221],"distance.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
