{"id":"https://openalex.org/W3215533795","doi":"https://doi.org/10.1109/ssrr53300.2021.9597858","title":"Improving Trajectory Tracking Accuracy for Faster and Safer Autonomous Navigation of Ground Vehicles in Off-Road Settings","display_name":"Improving Trajectory Tracking Accuracy for Faster and Safer Autonomous Navigation of Ground Vehicles in Off-Road Settings","publication_year":2021,"publication_date":"2021-10-25","ids":{"openalex":"https://openalex.org/W3215533795","doi":"https://doi.org/10.1109/ssrr53300.2021.9597858","mag":"3215533795"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr53300.2021.9597858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr53300.2021.9597858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5084336830","display_name":"Jason M. Gregory","orcid":"https://orcid.org/0000-0002-3929-6422"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jason M. Gregory","raw_affiliation_strings":["U.S. Army Research Laboratory, Adelphi, MD, USA"],"affiliations":[{"raw_affiliation_string":"U.S. Army Research Laboratory, Adelphi, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060981901","display_name":"Garrett Warnell","orcid":"https://orcid.org/0000-0003-3846-8787"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garrett Warnell","raw_affiliation_strings":["U.S. Army Research Laboratory, Adelphi, MD, USA"],"affiliations":[{"raw_affiliation_string":"U.S. Army Research Laboratory, Adelphi, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013449487","display_name":"Jonathan Fink","orcid":"https://orcid.org/0000-0003-2272-9751"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Fink","raw_affiliation_strings":["U.S. Army Research Laboratory, Adelphi, MD, USA"],"affiliations":[{"raw_affiliation_string":"U.S. Army Research Laboratory, Adelphi, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083094281","display_name":"Satyandra K. Gupta","orcid":"https://orcid.org/0000-0002-6025-7903"},"institutions":[{"id":"https://openalex.org/I144571360","display_name":"Viterbo University","ror":"https://ror.org/039p8pn96","country_code":"US","type":"education","lineage":["https://openalex.org/I144571360"]},{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyandra K. Gupta","raw_affiliation_strings":["Viterbi School of Engineering, University of Southern California, CA, USA"],"affiliations":[{"raw_affiliation_string":"Viterbi School of Engineering, University of Southern California, CA, USA","institution_ids":["https://openalex.org/I144571360","https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5084336830"],"corresponding_institution_ids":["https://openalex.org/I166416128"],"apc_list":null,"apc_paid":null,"fwci":0.4582,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.63678801,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"16","issue":null,"first_page":"204","last_page":"209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9944999814033508,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9944999814033508,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9930999875068665,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9854000210762024,"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/safer","display_name":"SAFER","score":0.7819423079490662},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7610455751419067},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6821960806846619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6723628044128418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49170953035354614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4792366325855255},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4715207815170288},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46180954575538635},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.45268407464027405},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4230981171131134},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34761738777160645},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09271740913391113}],"concepts":[{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.7819423079490662},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7610455751419067},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6821960806846619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6723628044128418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49170953035354614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4792366325855255},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4715207815170288},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46180954575538635},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.45268407464027405},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4230981171131134},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34761738777160645},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09271740913391113},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr53300.2021.9597858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr53300.2021.9597858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1591375184","https://openalex.org/W1984685202","https://openalex.org/W2008026620","https://openalex.org/W2031145718","https://openalex.org/W2078550116","https://openalex.org/W2128566606","https://openalex.org/W2154575165","https://openalex.org/W2160372210","https://openalex.org/W2161076907","https://openalex.org/W2163411428","https://openalex.org/W2167224731","https://openalex.org/W2396317032","https://openalex.org/W2478031517","https://openalex.org/W2561541975","https://openalex.org/W2729200806","https://openalex.org/W2742077738","https://openalex.org/W2795654616","https://openalex.org/W2806471870","https://openalex.org/W2893995718","https://openalex.org/W2902276220","https://openalex.org/W2915577923","https://openalex.org/W2962837602","https://openalex.org/W2963044571","https://openalex.org/W2963190151","https://openalex.org/W3003040906","https://openalex.org/W3006388420","https://openalex.org/W3021666931","https://openalex.org/W3120991176","https://openalex.org/W3127756416","https://openalex.org/W3175082666","https://openalex.org/W4230431917","https://openalex.org/W4242699028","https://openalex.org/W6682906688","https://openalex.org/W6683620479","https://openalex.org/W6684338915","https://openalex.org/W6742417552","https://openalex.org/W6752745768","https://openalex.org/W6755463424","https://openalex.org/W6773000631","https://openalex.org/W6773851537"],"related_works":["https://openalex.org/W3150144014","https://openalex.org/W2166449590","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2024135719","https://openalex.org/W2027854881"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"in":[2,22,32,56],"off-road":[3],"settings":[4],"is":[5],"complicated":[6],"by":[7,76],"environment-induced":[8],"disturbances":[9,92,104],"due":[10],"to":[11,38,48,58,71],"natural":[12],"phenomena,":[13],"such":[14],"as":[15],"friction":[16],"and":[17,100,105],"slip.":[18],"This":[19],"introduces":[20],"deviations":[21],"trajectory-following":[23],"capabilities,":[24],"exacerbates":[25],"the":[26,33,98,112],"effects":[27,51],"of":[28,90,102],"inevitable":[29],"understeering":[30],"and,":[31],"worst":[34],"case,":[35],"can":[36],"lead":[37],"unsafe":[39],"navigation.":[40],"We":[41,96],"anticipate":[42],"that":[43,81],"future":[44],"systems":[45],"will":[46],"need":[47],"learn":[49],"terrain-induced":[50],"efficiently":[52],"from":[53],"experiences":[54],"on-platform,":[55],"real-time,":[57],"compensate":[59],"for":[60],"complex":[61],"terrain.":[62],"Toward":[63],"this":[64],"vision,":[65],"we":[66],"discuss":[67],"a":[68],"data-driven":[69],"approach":[70],"improving":[72],"trajectory":[73],"tracking":[74],"accuracy":[75],"combining":[77],"conventional,":[78],"model-based":[79],"solutions":[80],"use":[82],"proprioceptive":[83],"sensor":[84],"data":[85],"with":[86],"online,":[87],"self-supervised":[88],"learning":[89],"noisy":[91],"using":[93],"exteroceptive":[94],"data.":[95],"investigate":[97],"value":[99],"challenges":[101],"predicting":[103],"computing":[106],"corresponding":[107],"command":[108],"offsets":[109],"based":[110],"on":[111],"robot's":[113],"experiences.":[114]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}