{"id":"https://openalex.org/W7130591080","doi":"https://doi.org/10.1109/ssrr68451.2025.11391317","title":"Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy","display_name":"Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy","publication_year":2025,"publication_date":"2025-10-29","ids":{"openalex":"https://openalex.org/W7130591080","doi":"https://doi.org/10.1109/ssrr68451.2025.11391317"},"language":null,"primary_location":{"id":"doi:10.1109/ssrr68451.2025.11391317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr68451.2025.11391317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Symposium on Safety Security 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/A5126429239","display_name":"Haiyue Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haiyue Chen","raw_affiliation_strings":["University of Pennsylvania,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007534881","display_name":"Aniket Datar","orcid":null},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aniket Datar","raw_affiliation_strings":["George Mason University,Fairfax,VA,USA,22030"],"affiliations":[{"raw_affiliation_string":"George Mason University,Fairfax,VA,USA,22030","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109005577","display_name":"Tong Xu","orcid":"https://orcid.org/0000-0001-6224-8472"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tong Xu","raw_affiliation_strings":["George Mason University,Fairfax,VA,USA,22030"],"affiliations":[{"raw_affiliation_string":"George Mason University,Fairfax,VA,USA,22030","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126433585","display_name":"Francesco Cancelliere","orcid":null},"institutions":[{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Cancelliere","raw_affiliation_strings":["University of Catania,Catania,Italy,95123"],"affiliations":[{"raw_affiliation_string":"University of Catania,Catania,Italy,95123","institution_ids":["https://openalex.org/I39063666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126437825","display_name":"Harsh Rangwala","orcid":null},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harsh Rangwala","raw_affiliation_strings":["George Mason University,Fairfax,VA,USA,22030"],"affiliations":[{"raw_affiliation_string":"George Mason University,Fairfax,VA,USA,22030","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111353941","display_name":"Madhan B. Rao","orcid":null},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Madhan Balaji Rao","raw_affiliation_strings":["George Mason University,Fairfax,VA,USA,22030"],"affiliations":[{"raw_affiliation_string":"George Mason University,Fairfax,VA,USA,22030","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126425517","display_name":"Daeun Song","orcid":null},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daeun Song","raw_affiliation_strings":["George Mason University,Fairfax,VA,USA,22030"],"affiliations":[{"raw_affiliation_string":"George Mason University,Fairfax,VA,USA,22030","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126384101","display_name":"David Eichinger","orcid":null},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Eichinger","raw_affiliation_strings":["George Mason University,Fairfax,VA,USA,22030"],"affiliations":[{"raw_affiliation_string":"George Mason University,Fairfax,VA,USA,22030","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121592010","display_name":"Xuesu Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":["George Mason University,Fairfax,VA,USA,22030"],"affiliations":[{"raw_affiliation_string":"George Mason University,Fairfax,VA,USA,22030","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5126429239"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.81768464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"133","last_page":"138"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5288000106811523,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5288000106811523,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.11159999668598175,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.10830000042915344,"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/testbed","display_name":"Testbed","score":0.8288000226020813},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.5551999807357788},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.49219998717308044},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.47839999198913574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4702000021934509},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4323999881744385},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4196000099182129},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.3855000138282776}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.8288000226020813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6647999882698059},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.5551999807357788},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5149000287055969},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.49219998717308044},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.47839999198913574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4702000021934509},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.454800009727478},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4323999881744385},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4196000099182129},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3855000138282776},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3671000003814697},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3614000082015991},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33980000019073486},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C34101116","wikidata":"https://www.wikidata.org/wiki/Q1229765","display_name":"Watercraft","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.28519999980926514},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C2779208394","wikidata":"https://www.wikidata.org/wiki/Q7140460","display_name":"Participatory sensing","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2655999958515167},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr68451.2025.11391317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr68451.2025.11391317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.7060323357582092}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320317153","display_name":"DeepMind","ror":"https://ror.org/00971b260"},{"id":"https://openalex.org/F4320317847","display_name":"Raytheon Technologies","ror":null},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"},{"id":"https://openalex.org/F4320338294","display_name":"Air Force Research Laboratory","ror":"https://ror.org/02e2egq70"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2043389781","https://openalex.org/W2060794637","https://openalex.org/W2130187425","https://openalex.org/W2139710904","https://openalex.org/W2290488357","https://openalex.org/W2775115763","https://openalex.org/W2890907792","https://openalex.org/W2899725245","https://openalex.org/W2962871846","https://openalex.org/W3003535010","https://openalex.org/W3041190052","https://openalex.org/W3206164009","https://openalex.org/W4285102400","https://openalex.org/W4312749288","https://openalex.org/W4383109373","https://openalex.org/W4385805093","https://openalex.org/W4401414569","https://openalex.org/W4401415990","https://openalex.org/W4402354117","https://openalex.org/W4405710342","https://openalex.org/W4405787501","https://openalex.org/W4406158043","https://openalex.org/W4413267746","https://openalex.org/W4413925398","https://openalex.org/W4413925403","https://openalex.org/W4413926243","https://openalex.org/W4414050433","https://openalex.org/W4414050528","https://openalex.org/W4416748735","https://openalex.org/W4416750290","https://openalex.org/W4416751099"],"related_works":[],"abstract_inverted_index":{"Off-road":[0],"navigation":[1],"is":[2,27],"an":[3],"important":[4],"capability":[5],"for":[6,40,59],"mobile":[7],"robots":[8],"deployed":[9],"in":[10,104],"environments":[11],"that":[12,114],"are":[13],"inaccessible":[14],"or":[15,23],"dangerous":[16],"to":[17,30,119],"humans,":[18],"such":[19],"as":[20],"disaster":[21],"response":[22],"planetary":[24],"exploration.":[25],"Progress":[26],"limited":[28],"due":[29],"the":[31],"lack":[32],"of":[33,75,102],"a":[34,53,64,73,89,111],"controllable":[35],"and":[36,44,79,88,99],"standardized":[37,122],"real-world":[38],"testbed":[39],"systematic":[41],"data":[42,97],"collection":[43,98],"validation.":[45],"To":[46],"fill":[47],"this":[48],"gap,":[49],"we":[50],"introduce":[51],"Verti-Arena,":[52],"reconfigurable":[54],"indoor":[55],"facility":[56],"designed":[57],"specifically":[58],"off-road":[60,105,123],"autonomy.":[61],"By":[62],"providing":[63],"repeatable":[65],"benchmark":[66],"environment,":[67],"Verti-Arena":[68,93],"supports":[69,95],"reproducible":[70],"experiments":[71,125],"across":[72],"variety":[74],"vertically":[76],"challenging":[77],"terrains":[78],"provides":[80],"precise":[81],"ground":[82],"truth":[83],"measurements":[84],"through":[85],"onboard":[86],"sensors":[87],"motion":[90],"capture":[91],"system.":[92],"also":[94,109],"consistent":[96],"comparative":[100],"evaluation":[101],"algorithms":[103],"autonomy":[106,124],"research.":[107],"We":[108],"develop":[110],"web-based":[112],"interface":[113],"enables":[115],"research":[116],"groups":[117],"worldwide":[118],"remotely":[120],"conduct":[121],"on":[126],"Verti-Arena.":[127]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-02-20T00:00:00"}