{"id":"https://openalex.org/W4411086246","doi":"https://doi.org/10.1109/tro.2025.3577015","title":"Real-Time Multilevel Terrain-Aware Path Planning for Ground Mobile Robots in Large-Scale Rough Terrains","display_name":"Real-Time Multilevel Terrain-Aware Path Planning for Ground Mobile Robots in Large-Scale Rough Terrains","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411086246","doi":"https://doi.org/10.1109/tro.2025.3577015"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3577015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3577015","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5100341654","display_name":"Yuxiang Li","orcid":"https://orcid.org/0000-0002-7598-6172"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuxiang Li","raw_affiliation_strings":["School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437975","display_name":"Kai Chen","orcid":"https://orcid.org/0000-0002-5395-3847"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Chen","raw_affiliation_strings":["School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365584","display_name":"Yifei Wang","orcid":"https://orcid.org/0000-0002-3313-0974"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifei Wang","raw_affiliation_strings":["School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018426114","display_name":"Weifan Zhang","orcid":"https://orcid.org/0000-0003-2113-6591"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weifan Zhang","raw_affiliation_strings":["School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057523021","display_name":"Jiancheng Wang","orcid":"https://orcid.org/0000-0001-7084-3191"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiancheng Wang","raw_affiliation_strings":["School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014650642","display_name":"Haoyao Chen","orcid":"https://orcid.org/0000-0002-5945-6411"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyao Chen","raw_affiliation_strings":["School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Robotics and Advanced Manufacture, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hongkong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hongkong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100341654"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":5.0048,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95295529,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"41","issue":null,"first_page":"4159","last_page":"4179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9854000210762024,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9671000242233276,"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":0.905501127243042},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7644526362419128},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7026609778404236},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6248677968978882},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5591339468955994},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5532771348953247},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.430514395236969},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4214109182357788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41641905903816223},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4153357744216919},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3011462390422821},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1797867715358734},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09883123636245728}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.905501127243042},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7644526362419128},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7026609778404236},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6248677968978882},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5591339468955994},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5532771348953247},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.430514395236969},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4214109182357788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41641905903816223},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4153357744216919},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3011462390422821},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1797867715358734},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09883123636245728}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3577015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3577015","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G122172205","display_name":null,"funder_award_id":"U21A20119","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3980671298","display_name":null,"funder_award_id":"U1713206","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2025673320","https://openalex.org/W2076725111","https://openalex.org/W2101344335","https://openalex.org/W2104691494","https://openalex.org/W2129711966","https://openalex.org/W2133844819","https://openalex.org/W2153504150","https://openalex.org/W2169876343","https://openalex.org/W2401247923","https://openalex.org/W2515099907","https://openalex.org/W2584507392","https://openalex.org/W2607968634","https://openalex.org/W2617643478","https://openalex.org/W2784148011","https://openalex.org/W2944370910","https://openalex.org/W2963032934","https://openalex.org/W2965215408","https://openalex.org/W2968879799","https://openalex.org/W3006552748","https://openalex.org/W3014910365","https://openalex.org/W3016754278","https://openalex.org/W3123520368","https://openalex.org/W3125784686","https://openalex.org/W3174083630","https://openalex.org/W3206176170","https://openalex.org/W3209352332","https://openalex.org/W4210423514","https://openalex.org/W4231236310","https://openalex.org/W4233654529","https://openalex.org/W4253729359","https://openalex.org/W4281680575","https://openalex.org/W4283734789","https://openalex.org/W4285125982","https://openalex.org/W4312270149","https://openalex.org/W4312462349","https://openalex.org/W4313150919","https://openalex.org/W4383108611","https://openalex.org/W4385634399","https://openalex.org/W4391117283","https://openalex.org/W6679201544","https://openalex.org/W6748329850"],"related_works":["https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4285089922","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932"],"abstract_inverted_index":{"Autonomous":[0],"ground":[1],"mobile":[2],"robots":[3],"rely":[4],"on":[5],"their":[6],"configuration":[7,101],"characteristics":[8],"to":[9,80,99],"prevent":[10],"tip-overs":[11],"and":[12,27,33,67,85,103,123,135,152,169,181,187,191],"collisions,":[13],"ensuring":[14],"safe":[15],"navigation":[16,141],"in":[17,41,125,142,195],"complex":[18,21,126,170,197],"environments.":[19,127,199],"However,":[20],"configurations":[22,134],"with":[23,113,146],"specially":[24],"designed":[25,94],"links":[26],"joints":[28],"produce":[29],"a":[30,50],"higher-dimensional":[31],"workspace":[32],"bring":[34],"significant":[35],"challenges":[36],"for":[37],"path":[38,54,86,105,120,183],"planning,":[39,87,184],"especially":[40],"large-scale":[42,143],"rough":[43],"terrains.":[44],"To":[45],"address":[46],"this,":[47],"we":[48],"propose":[49],"real-time":[51],"multi-level":[52],"terrain-aware":[53],"planning":[55,121],"framework":[56,118],"that":[57,156,176],"integrates":[58],"different":[59],"levels":[60],"of":[61],"terrain":[62,83],"awareness":[63],"into":[64],"the":[65,77,96,109,114,117],"global":[66,78,110],"local":[68,97,115],"layers.":[69],"An":[70],"implicit":[71],"map":[72],"representation":[73],"is":[74,93],"introduced":[75],"at":[76,95],"layer":[79,98,111],"enable":[81],"efficient":[82],"analysis":[84],"while":[88],"an":[89],"iterative":[90],"geometric":[91],"evaluation":[92],"estimate":[100],"stability":[102],"improve":[104],"smoothness.":[106],"By":[107],"sharing":[108],"information":[112],"layer,":[116],"enhances":[119],"efficiency":[122],"adaptability":[124],"Its":[128],"modular":[129],"design":[130],"supports":[131],"diverse":[132,162],"robot":[133],"pathfinding":[136],"algorithms,":[137],"enabling":[138],"effective":[139],"autonomous":[140],"3D":[144,198],"terrains":[145],"online":[147],"or":[148],"offline":[149],"maps.":[150],"Simulations":[151],"real-world":[153],"experiments":[154],"demonstrated":[155],"our":[157,177],"approach":[158,178],"outperforms":[159],"state-of-the-arts":[160],"across":[161],"environments,":[163],"including":[164],"uneven":[165],"terrains,":[166],"multi-layered":[167],"structures,":[168],"debris":[171],"fields.":[172],"The":[173],"results":[174],"highlighted":[175],"provides":[179],"faster":[180],"safer":[182],"more":[185],"accurate":[186],"robust":[188],"configuration-stability":[189],"estimation,":[190],"higher":[192],"success":[193],"rates":[194],"traversing":[196]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}