{"id":"https://openalex.org/W2025333545","doi":"https://doi.org/10.1109/tcyb.2014.2301442","title":"Onboard Centralized Frame Tree Database for Intelligent Space Operations of the Mars Science Laboratory Rover","display_name":"Onboard Centralized Frame Tree Database for Intelligent Space Operations of the Mars Science Laboratory Rover","publication_year":2014,"publication_date":"2014-02-07","ids":{"openalex":"https://openalex.org/W2025333545","doi":"https://doi.org/10.1109/tcyb.2014.2301442","mag":"2025333545","pmid":"https://pubmed.ncbi.nlm.nih.gov/25330473"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2014.2301442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2014.2301442","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5111380014","display_name":"Won S. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Won S. Kim","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027965945","display_name":"Antonio D\u00edaz-Calder\u00f3n","orcid":null},"institutions":[{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antonio Diaz-Calderon","raw_affiliation_strings":["Applied Physics Laboratory, Johns Hopkins University, Baltimore, MD, USA","Applied Physics Laboratory Johns Hopkins University  Baltimore MD USA"],"affiliations":[{"raw_affiliation_string":"Applied Physics Laboratory, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I2802946424"]},{"raw_affiliation_string":"Applied Physics Laboratory Johns Hopkins University  Baltimore MD USA","institution_ids":["https://openalex.org/I2802946424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101593962","display_name":"Stephen Peters","orcid":"https://orcid.org/0000-0001-7587-6638"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen F. Peters","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109812152","display_name":"Joseph Carsten","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph L. Carsten","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory , California Institute of Technology , Pasadena , CA , USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010858686","display_name":"Chris Leger","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Leger","raw_affiliation_strings":["Google Inc, Mountain View, CA, USA","Google Inc., Mountain View, CA USA"],"affiliations":[{"raw_affiliation_string":"Google Inc, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google Inc., Mountain View, CA USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111380014"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":0.6896,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73844799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"44","issue":"11","first_page":"2109","last_page":"2121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10325","display_name":"Astro and Planetary Science","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9624999761581421,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6835871934890747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6817830204963684},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.6015073657035828},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.5956958532333374},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5549024939537048},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5181047320365906},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.5107088685035706},{"id":"https://openalex.org/keywords/exploration-of-mars","display_name":"Exploration of Mars","score":0.4814407229423523},{"id":"https://openalex.org/keywords/mission-control-center","display_name":"Mission control center","score":0.47004905343055725},{"id":"https://openalex.org/keywords/object-based-spatial-database","display_name":"Object-based spatial database","score":0.43183571100234985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3876740336418152},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37350642681121826},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.34398749470710754},{"id":"https://openalex.org/keywords/spatial-database","display_name":"Spatial database","score":0.2947458028793335},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.27093738317489624},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.22669115662574768},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.17820340394973755},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.16782554984092712},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.152619868516922},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12491723895072937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10475772619247437},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.087134450674057}],"concepts":[{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6835871934890747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6817830204963684},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.6015073657035828},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.5956958532333374},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5549024939537048},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5181047320365906},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.5107088685035706},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.4814407229423523},{"id":"https://openalex.org/C25761169","wikidata":"https://www.wikidata.org/wiki/Q1757070","display_name":"Mission control center","level":2,"score":0.47004905343055725},{"id":"https://openalex.org/C153938966","wikidata":"https://www.wikidata.org/wiki/Q3348148","display_name":"Object-based spatial database","level":4,"score":0.43183571100234985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3876740336418152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37350642681121826},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.34398749470710754},{"id":"https://openalex.org/C203689450","wikidata":"https://www.wikidata.org/wiki/Q2302053","display_name":"Spatial database","level":3,"score":0.2947458028793335},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.27093738317489624},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.22669115662574768},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.17820340394973755},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.16782554984092712},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.152619868516922},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12491723895072937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10475772619247437},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.087134450674057},{"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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2014.2301442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2014.2301442","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:25330473","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25330473","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320334079","display_name":"Gruppo Nazionale per il Calcolo Scientifico","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W170898410","https://openalex.org/W1507009174","https://openalex.org/W1528606939","https://openalex.org/W1531122638","https://openalex.org/W1576648463","https://openalex.org/W1803418553","https://openalex.org/W1941547216","https://openalex.org/W1969467690","https://openalex.org/W2019358285","https://openalex.org/W2043721187","https://openalex.org/W2046640886","https://openalex.org/W2091508879","https://openalex.org/W2103065821","https://openalex.org/W2113199742","https://openalex.org/W2123245438","https://openalex.org/W2123838765","https://openalex.org/W2145741013","https://openalex.org/W2166502824","https://openalex.org/W2167916881","https://openalex.org/W2467377838","https://openalex.org/W4213380970","https://openalex.org/W4247299037","https://openalex.org/W6606922782","https://openalex.org/W6634743789"],"related_works":["https://openalex.org/W1507269804","https://openalex.org/W1995862836","https://openalex.org/W2001471769","https://openalex.org/W4292004028","https://openalex.org/W2587168202","https://openalex.org/W135964586","https://openalex.org/W2183007145","https://openalex.org/W272211307","https://openalex.org/W1634103266","https://openalex.org/W2084429957"],"abstract_inverted_index":{"Planetary":[0],"surface":[1],"science":[2],"operations":[3,80],"performed":[4],"by":[5,148,189],"robotic":[6,19,144],"space":[7],"systems":[8],"frequently":[9],"require":[10],"pointing":[11],"cameras":[12],"at":[13],"various":[14],"objects":[15],"and":[16,47,135,142,157,216],"moving":[17],"a":[18,63,82,101,117,176],"arm":[20],"end":[21],"effector":[22],"tool":[23],"toward":[24],"specific":[25,195],"targets.":[26],"Earlier":[27],"NASA":[28],"Mars":[29,106,147],"Exploration":[30],"Rovers":[31],"did":[32],"not":[33],"have":[34,91,116,194,237],"the":[35,77,92,98,113,124,143,165,181,198,226,233],"ability":[36],"to":[37,49,60,65,90,96,115,122],"compute":[38,97],"actual":[39],"coordinates":[40,72,99],"for":[41,73,86,100],"given":[42,102],"object":[43,156,170],"coordinate":[44,119],"frame":[45,103,182,185,204,227,244],"names":[46,159],"had":[48],"be":[50],"provided":[51],"with":[52],"explicit":[53],"coordinates.":[54,162],"Since":[55],"it":[56],"sometimes":[57],"takes":[58],"hours":[59],"more":[61],"than":[62],"day":[64],"get":[66],"final":[67],"approval":[68],"of":[69,126,153,161,168,197],"certain":[70],"calculated":[71],"command":[74],"uplink":[75],"via":[76],"Earth-based":[78,138],"mission":[79,111,140,235],"procedures,":[81],"highly":[83],"desired":[84],"enhancement":[85],"future":[87],"rovers":[88],"was":[89],"onboard":[93,130,202,242],"automated":[94],"capability":[95],"name.":[104],"The":[105],"Science":[107],"Laboratory":[108],"(MSL)":[109],"rover":[110,145],"is":[112],"first":[114],"centralized":[118,203,243],"transform":[120],"database":[121,246],"maintain":[123],"knowledge":[125,196],"spatial":[127,166],"relations.":[128],"This":[129],"intelligence":[131],"significantly":[132],"simplifies":[133],"communication":[134],"control":[136],"between":[137,212],"human":[139],"operators":[141],"on":[146],"supporting":[149],"higher":[150],"level":[151],"abstraction":[152],"commands":[154,219],"using":[155],"target":[158],"instead":[160],"More":[163],"specifically,":[164],"relations":[167],"many":[169],"frames":[171,215,223],"are":[172,187,247],"represented":[173],"hierarchically":[174],"in":[175,225,232],"tree":[177,205,245],"data":[178],"structure,":[179],"called":[180],"tree.":[183,228],"Individual":[184],"transforms":[186,211],"populated":[188],"their":[190],"respective":[191],"modules":[192,208],"that":[193,220,236],"frames.":[199],"Through":[200],"this":[201,241],"database,":[206],"client":[207],"can":[209],"query":[210],"any":[213,222],"two":[214],"support":[217],"spacecraft":[218],"use":[221],"maintained":[224],"Various":[229],"operational":[230],"examples":[231],"MSL":[234],"greatly":[238],"benefitted":[239],"from":[240],"presented.":[248]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
