{"id":"https://openalex.org/W3124131635","doi":"https://doi.org/10.1109/ssrr50563.2020.9292594","title":"Staircase Negotiation Learning for Articulated Tracked Robots with Varying Degrees of Freedom","display_name":"Staircase Negotiation Learning for Articulated Tracked Robots with Varying Degrees of Freedom","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3124131635","doi":"https://doi.org/10.1109/ssrr50563.2020.9292594","mag":"3124131635"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292594","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"preprint","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/A5043861618","display_name":"Andrei Mitriakov","orcid":null},"institutions":[{"id":"https://openalex.org/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]},{"id":"https://openalex.org/I4210123702","display_name":"Laboratoire des Sciences et Techniques de l\u2019Information de la Communication et de la Connaissance","ror":"https://ror.org/0266kfd37","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I180375564","https://openalex.org/I201181511","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I4210123702","https://openalex.org/I4210127572","https://openalex.org/I4210145102","https://openalex.org/I4210148559","https://openalex.org/I4210159245","https://openalex.org/I4405260085"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Andrei Mitriakov","raw_affiliation_strings":["Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","Lab-STICC_IMTA_CID_IHSEV (Technopole Brest Iroise CS 83818 29238 BREST Cedex 3 - France)","IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)"],"affiliations":[{"raw_affiliation_string":"Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","institution_ids":["https://openalex.org/I4210127572","https://openalex.org/I161929037","https://openalex.org/I4210123702"]},{"raw_affiliation_string":"Lab-STICC_IMTA_CID_IHSEV (Technopole Brest Iroise CS 83818 29238 BREST Cedex 3 - France)","institution_ids":["https://openalex.org/I161929037"]},{"raw_affiliation_string":"IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)","institution_ids":["https://openalex.org/I4210127572"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104533573","display_name":"Panagiotis Papadakis","orcid":"https://orcid.org/0000-0002-2193-8087"},"institutions":[{"id":"https://openalex.org/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]},{"id":"https://openalex.org/I4210123702","display_name":"Laboratoire des Sciences et Techniques de l\u2019Information de la Communication et de la Connaissance","ror":"https://ror.org/0266kfd37","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I180375564","https://openalex.org/I201181511","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I4210123702","https://openalex.org/I4210127572","https://openalex.org/I4210145102","https://openalex.org/I4210148559","https://openalex.org/I4210159245","https://openalex.org/I4405260085"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Panagiotis Papadakis","raw_affiliation_strings":["Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","Lab-STICC_IMTA_CID_IHSEV (Technopole Brest Iroise CS 83818 29238 BREST Cedex 3 - France)","IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)"],"affiliations":[{"raw_affiliation_string":"Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","institution_ids":["https://openalex.org/I4210127572","https://openalex.org/I161929037","https://openalex.org/I4210123702"]},{"raw_affiliation_string":"Lab-STICC_IMTA_CID_IHSEV (Technopole Brest Iroise CS 83818 29238 BREST Cedex 3 - France)","institution_ids":["https://openalex.org/I161929037"]},{"raw_affiliation_string":"IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)","institution_ids":["https://openalex.org/I4210127572"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046094611","display_name":"Sao Mai Nguyen","orcid":"https://orcid.org/0000-0003-0929-0019"},"institutions":[{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]},{"id":"https://openalex.org/I4210123702","display_name":"Laboratoire des Sciences et Techniques de l\u2019Information de la Communication et de la Connaissance","ror":"https://ror.org/0266kfd37","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I180375564","https://openalex.org/I201181511","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I4210123702","https://openalex.org/I4210127572","https://openalex.org/I4210145102","https://openalex.org/I4210148559","https://openalex.org/I4210159245","https://openalex.org/I4405260085"]},{"id":"https://openalex.org/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sao Mai Nguyen","raw_affiliation_strings":["Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","Lab-STICC_IMTA_CID_IHSEV (Technopole Brest Iroise CS 83818 29238 BREST Cedex 3 - France)","IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)"],"affiliations":[{"raw_affiliation_string":"Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","institution_ids":["https://openalex.org/I4210127572","https://openalex.org/I161929037","https://openalex.org/I4210123702"]},{"raw_affiliation_string":"Lab-STICC_IMTA_CID_IHSEV (Technopole Brest Iroise CS 83818 29238 BREST Cedex 3 - France)","institution_ids":["https://openalex.org/I161929037"]},{"raw_affiliation_string":"IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)","institution_ids":["https://openalex.org/I4210127572"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000339680","display_name":"Serge Garlatti","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123702","display_name":"Laboratoire des Sciences et Techniques de l\u2019Information de la Communication et de la Connaissance","ror":"https://ror.org/0266kfd37","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I180375564","https://openalex.org/I201181511","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I4210123702","https://openalex.org/I4210127572","https://openalex.org/I4210145102","https://openalex.org/I4210148559","https://openalex.org/I4210159245","https://openalex.org/I4405260085"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]},{"id":"https://openalex.org/I161929037","display_name":"Universit\u00e9 de Bretagne Occidentale","ror":"https://ror.org/01b8h3982","country_code":"FR","type":"education","lineage":["https://openalex.org/I161929037"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Serge Garlatti","raw_affiliation_strings":["Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)"],"affiliations":[{"raw_affiliation_string":"Lab-STICC, UMR 6285, F-29238, team RAMBO, IMT Atlantique Bretagne/Pays de la Loire,Brest,France","institution_ids":["https://openalex.org/I4210127572","https://openalex.org/I161929037","https://openalex.org/I4210123702"]},{"raw_affiliation_string":"IMT Atlantique - INFO - D\u00e9partement Informatique (IMT Atlantique - Campus de Brest - Technop\u00f4le Brest-Iroise CS 8381829238 BREST Cedex 3 - France)","institution_ids":["https://openalex.org/I4210127572"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043861618"],"corresponding_institution_ids":["https://openalex.org/I161929037","https://openalex.org/I4210123702","https://openalex.org/I4210127572"],"apc_list":null,"apc_paid":null,"fwci":0.58743819,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.7420997,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"394","last_page":"400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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/tree-traversal","display_name":"Tree traversal","score":0.8233840465545654},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7739214897155762},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6776142120361328},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5959259271621704},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.586353063583374},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5733550786972046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5513060092926025},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4894494116306305},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4869721829891205},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.451124370098114},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.42283880710601807},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42263075709342957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42178624868392944},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4182944893836975},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34452852606773376},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1281273365020752},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11952975392341614},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09703090786933899}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.8233840465545654},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7739214897155762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6776142120361328},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5959259271621704},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.586353063583374},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5733550786972046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5513060092926025},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4894494116306305},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4869721829891205},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.451124370098114},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.42283880710601807},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42263075709342957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42178624868392944},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4182944893836975},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34452852606773376},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1281273365020752},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11952975392341614},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09703090786933899},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292594","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292594","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03001120v1","is_oa":false,"landing_page_url":"https://imt-atlantique.hal.science/hal-03001120","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"SSRR 2020: IEEE International Conference on Safety, Security and Rescue Robotics, Nov 2020, Abu Dabi (virtual), United Arab Emirates. ⟨10.1109/SSRR50563.2020.9292594⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2005805981","https://openalex.org/W2012587148","https://openalex.org/W2027162577","https://openalex.org/W2040728466","https://openalex.org/W2040904925","https://openalex.org/W2082927964","https://openalex.org/W2092783100","https://openalex.org/W2096304345","https://openalex.org/W2103427741","https://openalex.org/W2116674383","https://openalex.org/W2566259906","https://openalex.org/W2596876064","https://openalex.org/W2736601468","https://openalex.org/W2756604803","https://openalex.org/W2760895900","https://openalex.org/W2943535812","https://openalex.org/W2960249673","https://openalex.org/W3007553593","https://openalex.org/W3018449640","https://openalex.org/W3082771678","https://openalex.org/W3208422024","https://openalex.org/W4205513846","https://openalex.org/W6741002519","https://openalex.org/W6744198025","https://openalex.org/W6765436739"],"related_works":["https://openalex.org/W170547082","https://openalex.org/W2136735429","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W4301044568","https://openalex.org/W1587123803","https://openalex.org/W2128075414","https://openalex.org/W2952867832","https://openalex.org/W2571039174"],"abstract_inverted_index":{"International":[0],"audience":[1]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-02-07T08:09:18.108334","created_date":"2025-10-10T00:00:00"}