{"id":"https://openalex.org/W4392931855","doi":"https://doi.org/10.1109/tase.2024.3353815","title":"Human-in-the-Loop Assisted Trafficability Prediction for Planetary Rover on Soft Dangerous Terrains","display_name":"Human-in-the-Loop Assisted Trafficability Prediction for Planetary Rover on Soft Dangerous Terrains","publication_year":2024,"publication_date":"2024-03-18","ids":{"openalex":"https://openalex.org/W4392931855","doi":"https://doi.org/10.1109/tase.2024.3353815"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3353815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3353815","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5019065514","display_name":"Sui Wang","orcid":"https://orcid.org/0000-0003-2673-4291"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sui Wang","raw_affiliation_strings":["College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038023964","display_name":"Lihang Feng","orcid":"https://orcid.org/0000-0002-5790-0478"},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihang Feng","raw_affiliation_strings":["College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100955042","display_name":"Di Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I134687103","display_name":"Nanjing Tech University","ror":"https://ror.org/03sd35x91","country_code":"CN","type":"education","lineage":["https://openalex.org/I134687103"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Xiao","raw_affiliation_strings":["College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, China","institution_ids":["https://openalex.org/I134687103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101486105","display_name":"Yong Hu","orcid":"https://orcid.org/0000-0003-3794-0509"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yong Hu","raw_affiliation_strings":["Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019065514"],"corresponding_institution_ids":["https://openalex.org/I134687103"],"apc_list":null,"apc_paid":null,"fwci":0.7921,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68841998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"4651","last_page":"4660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9707000255584717,"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":0.9707000255584717,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9602000117301941,"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":0.9168999791145325,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7183682918548584},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"Planetary exploration","score":0.5668806433677673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.480089008808136},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4736011326313019},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4730830788612366},{"id":"https://openalex.org/keywords/soft-landing","display_name":"Soft landing","score":0.46956372261047363},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.46755942702293396},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4434589743614197},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.43718981742858887},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4163748025894165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4025382101535797},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.40001189708709717},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39552539587020874},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32433009147644043},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32289576530456543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2672109305858612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26637107133865356},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24431177973747253},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.21194195747375488},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16789108514785767},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09209150075912476}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7183682918548584},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.5668806433677673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.480089008808136},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4736011326313019},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4730830788612366},{"id":"https://openalex.org/C65424074","wikidata":"https://www.wikidata.org/wiki/Q2221605","display_name":"Soft landing","level":2,"score":0.46956372261047363},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.46755942702293396},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4434589743614197},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.43718981742858887},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4163748025894165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4025382101535797},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.40001189708709717},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39552539587020874},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32433009147644043},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32289576530456543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2672109305858612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26637107133865356},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24431177973747253},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.21194195747375488},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16789108514785767},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09209150075912476},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C139719470","wikidata":"https://www.wikidata.org/wiki/Q39680","display_name":"Macroeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3353815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3353815","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G3934697153","display_name":null,"funder_award_id":"62103184","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8323178584","display_name":null,"funder_award_id":"2018AAA0102705","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8329673684","display_name":null,"funder_award_id":"U20B2054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1987552279","https://openalex.org/W2026336946","https://openalex.org/W2136779670","https://openalex.org/W2145339207","https://openalex.org/W2158449659","https://openalex.org/W2204184352","https://openalex.org/W2783925261","https://openalex.org/W2788180658","https://openalex.org/W2790141382","https://openalex.org/W2898354798","https://openalex.org/W2910276480","https://openalex.org/W2945081152","https://openalex.org/W2957761226","https://openalex.org/W3091182627","https://openalex.org/W3128725809","https://openalex.org/W3164378446","https://openalex.org/W3191631771","https://openalex.org/W4225819708","https://openalex.org/W4291652919","https://openalex.org/W4324123858","https://openalex.org/W4362592527","https://openalex.org/W4386590899","https://openalex.org/W4389664576","https://openalex.org/W4404572558","https://openalex.org/W6637967152","https://openalex.org/W6675357634","https://openalex.org/W6739059119"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2290286193","https://openalex.org/W4367173559","https://openalex.org/W2902961658","https://openalex.org/W2771337204","https://openalex.org/W3013033709","https://openalex.org/W4205712021","https://openalex.org/W2315023003","https://openalex.org/W3119741734"],"abstract_inverted_index":{"It":[0,226],"needs":[1],"to":[2,12,96,118,144,150,163,218,247],"predict":[3,97],"the":[4,9,41,72,75,82,105,129,206,220,239,253,259,276,280],"soft":[5,161],"terrain":[6,23,141,162],"trafficability":[7,24,66,76,133,153,169,207,224,232,283],"of":[8,21,35,43,74,85,139,176,185,208,231,241,282],"Mars":[10,22,64,158,209],"rover":[11,65],"avoid":[13,164],"hazards":[14],"in":[15,188],"emergencies.":[16],"The":[17,68,124],"current":[18],"prediction":[19,134,154,170],"models":[20,171],"simply":[25],"transfer":[26],"information":[27],"between":[28],"humans":[29],"and":[30,89,108,136,238,263],"machines,":[31],"with":[32,71,223],"lower":[33],"levels":[34],"human-machine":[36,177,196],"interaction":[37],"fusion,":[38,178],"which":[39,179],"hinders":[40],"creation":[42],"effective":[44],"emergency":[45],"handling":[46],"measures.":[47],"In":[48,191,211],"this":[49,192,212],"paper,":[50,193],"a":[51,91,109,120,173,194,235,242,265],"human-in-the-loop":[52],"multi-indices":[53,195],"fusion":[54,83,197],"decision":[55,93,101,106,114,122,198,244,261,270],"framework":[56,69,130,199,254,277],"called":[57],"<italic":[58,147],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[59,148],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">HITL-FD</i>":[60],"is":[61,102,116,155,180,200,216],"proposed":[62,117],"for":[63,157,183,204],"prediction.":[67,284],"deals":[70],"fuzziness":[73],"boundaries":[77],"by":[78,233],"fuzzy":[79,92,214,243],"theory,":[80],"achieving":[81],"processing":[84],"multiple":[86],"evaluation":[87,230],"indices":[88],"adopting":[90],"tree":[94,245],"algorithm":[95,246],"trafficability.":[98,251],"Additionally,":[99],"human-assisted":[100,256],"incorporated":[103],"into":[104],"loop,":[107,262],"reward":[110,266],"function":[111,267],"based":[112,268],"on":[113,269],"error":[115],"generate":[119],"closed-loop":[121],"framework.":[123],"experimental":[125],"results":[126,273],"show":[127,274],"that":[128,275],"has":[131],"excellent":[132],"performance":[135],"reduces":[137],"5.1%":[138],"MAYBE":[140],"uncertainty":[142],"compared":[143],"machine-based":[145],"decision.":[146],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[149],"Practitioners</i>":[151],"\u2014The":[152],"crucial":[156],"rovers":[159,187],"traversing":[160],"emergencies":[165],"including":[166],"sinkage.":[167],"Conventional":[168],"have":[172],"low":[174],"degree":[175],"not":[181],"beneficial":[182],"applications":[184],"planetary":[186],"practical":[189],"engineering.":[190],"proposed,":[201],"specifically":[202],"designed":[203],"predicting":[205],"rover.":[210],"framework,":[213],"theory":[215],"used":[217],"address":[219],"ambiguity":[221],"associated":[222],"boundaries.":[225],"provides":[227],"an":[228],"overall":[229],"fusing":[234],"single":[236],"index":[237],"use":[240],"make":[248],"predictions":[249],"regarding":[250],"Furthermore,":[252],"incorporates":[255],"decision-making":[257],"within":[258],"closed":[260],"proposes":[264],"error.":[271],"Experimental":[272],"can":[278],"increase":[279],"correctness":[281]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}