{"id":"https://openalex.org/W2099337339","doi":"https://doi.org/10.1177/0278364908097578","title":"Robot Navigation in Multi-terrain Outdoor Environments","display_name":"Robot Navigation in Multi-terrain Outdoor Environments","publication_year":2009,"publication_date":"2009-05-20","ids":{"openalex":"https://openalex.org/W2099337339","doi":"https://doi.org/10.1177/0278364908097578","mag":"2099337339"},"language":"en","primary_location":{"id":"doi:10.1177/0278364908097578","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908097578","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5082883292","display_name":"Guilherme A. S. Pereira","orcid":"https://orcid.org/0000-0003-0739-9934"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Guilherme A. S. Pereira","raw_affiliation_strings":["Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil,","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052284828","display_name":"Luciano C. A. Pimenta","orcid":"https://orcid.org/0000-0001-6385-1249"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luciano C. A. Pimenta","raw_affiliation_strings":["Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057279722","display_name":"Alexandre R. Fonseca","orcid":"https://orcid.org/0000-0002-5153-0509"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alexandre R. Fonseca","raw_affiliation_strings":["Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030675669","display_name":"Leonardo de Q. Corr\u00eaa","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Leonardo de Q. Corr\u00eaa","raw_affiliation_strings":["Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013646117","display_name":"Renato C. Mesquita","orcid":"https://orcid.org/0000-0003-1837-1355"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Renato C. Mesquita","raw_affiliation_strings":["Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Engenharia El\u00e9trica, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073879771","display_name":"Luiz Chaimowicz","orcid":"https://orcid.org/0000-0001-8156-9941"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luiz Chaimowicz","raw_affiliation_strings":["Departamento de Ci\u00eancia da Computa\u00e7\u00e3o, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ci\u00eancia da Computa\u00e7\u00e3o, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075228130","display_name":"Daniel Almeida","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel S. C. de Almeida","raw_affiliation_strings":["Departamento de Ci\u00eancia da Computa\u00e7\u00e3o, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ci\u00eancia da Computa\u00e7\u00e3o, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015111328","display_name":"M\u00e1rio F. M. Campos","orcid":"https://orcid.org/0000-0002-8336-9190"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mario F. M. Campos","raw_affiliation_strings":["Departamento de Ci\u00eancia da Computa\u00e7\u00e3o, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ci\u00eancia da Computa\u00e7\u00e3o, Universidade Federal de Minas                         Gerais, Belo Horizonte, MG 31270-010, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5082883292"],"corresponding_institution_ids":["https://openalex.org/I110200422"],"apc_list":null,"apc_paid":null,"fwci":2.9049,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.91173698,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"28","issue":"6","first_page":"685","last_page":"700"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9976999759674072,"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":0.8586369752883911},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7287124395370483},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6485037207603455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6129006147384644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5580847263336182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5014629364013672},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45996174216270447},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4593721628189087},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.44427889585494995},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42196351289749146},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3906317949295044},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3635548949241638},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19873788952827454}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8586369752883911},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7287124395370483},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6485037207603455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6129006147384644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5580847263336182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5014629364013672},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45996174216270447},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4593721628189087},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.44427889585494995},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42196351289749146},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3906317949295044},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3635548949241638},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19873788952827454},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364908097578","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908097578","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.217.5283","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.217.5283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cpdee.ufmg.br/~gpereira/papers/iser2006.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.66.3699","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.66.3699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dcc.ufmg.br/~chaimo/public/iser06.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320322980","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de Minas Gerais","ror":"https://ror.org/00nc55f03"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W774034202","https://openalex.org/W1561300356","https://openalex.org/W1561445488","https://openalex.org/W1589131253","https://openalex.org/W1592244114","https://openalex.org/W1604556474","https://openalex.org/W1989723858","https://openalex.org/W1999006234","https://openalex.org/W2042350528","https://openalex.org/W2099351353","https://openalex.org/W2116647221","https://openalex.org/W2116814604","https://openalex.org/W2121029369","https://openalex.org/W2122410182","https://openalex.org/W2129412583","https://openalex.org/W2131766552","https://openalex.org/W2134562227","https://openalex.org/W2142901669","https://openalex.org/W2148014896","https://openalex.org/W2149906774","https://openalex.org/W2154844948","https://openalex.org/W2165744968","https://openalex.org/W2169528473","https://openalex.org/W2169779711","https://openalex.org/W2319294888","https://openalex.org/W2336416123","https://openalex.org/W2623293810","https://openalex.org/W2993433457","https://openalex.org/W3142707146","https://openalex.org/W4242246215","https://openalex.org/W4249860460","https://openalex.org/W4252959020","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2157678966","https://openalex.org/W2122735287","https://openalex.org/W2080635515","https://openalex.org/W1886477626","https://openalex.org/W2175869054","https://openalex.org/W1540467731","https://openalex.org/W2419867673","https://openalex.org/W167006473","https://openalex.org/W2175714038","https://openalex.org/W2803104311"],"abstract_inverted_index":{"This":[0,135],"paper":[1,78],"presents":[2,79],"a":[3,80,97,105,120,153,184],"methodology":[4],"for":[5,152],"motion":[6],"planning":[7,99],"in":[8,166],"outdoor":[9],"environments":[10],"that":[11,110,125],"takes":[12],"into":[13,27,94],"account":[14],"specific":[15],"characteristics":[16,177],"of":[17,21,35,60,108,132,156,178],"the":[18,23,33,51,54,58,61,68,74,88,92,112,127,130,146,149,160,167,171,176,179,191],"terrain.":[19,180],"Instead":[20],"decomposing":[22,91],"robot":[24,52,128,140,172,189],"configuration":[25],"space":[26],"\u201cfree\u201d":[28],"and":[29,56,86],"\u201coccupied\u201d,":[30],"we":[31],"consider":[32],"existence":[34],"several":[36],"regions":[37,55],"with":[38,183],"different":[39],"navigation":[40,113],"costs.":[41],"In":[42],"this":[43],"paper,":[44],"costs":[45],"are":[46],"determined":[47],"experimentally":[48],"by":[49,119],"navigating":[50],"through":[53,129],"measuring":[57],"influence":[59],"terrain":[62,75,164],"on":[63],"its":[64],"motion.":[65],"We":[66],"measure":[67],"robot's":[69],"vertical":[70],"acceleration,":[71],"which":[72],"reflects":[73],"roughness.":[76],"The":[77],"hybrid":[81],"(discrete\u2014continuous)":[82],"approach":[83],"to":[84,103,148,175],"guide":[85],"control":[87,116],"robot.":[89],"After":[90],"map":[93],"triangular":[95,133],"cells,":[96],"path":[98],"algorithm":[100],"is":[101,117,163],"used":[102],"determine":[104],"discrete":[106],"sequence":[107,131,147],"cells":[109],"minimizes":[111],"cost.":[114],"Robot":[115],"accomplished":[118],"fully":[121],"continuous":[122],"vector":[123,136,161],"field":[124,137,162],"drives":[126],"cells.":[134,158],"allows":[138],"smooth":[139],"trajectories":[141],"from":[142],"any":[143],"position":[144],"inside":[145],"goal,":[150],"even":[151],"small":[154],"number":[155],"large":[157],"Moreover,":[159],"dependent":[165],"sense":[168],"it":[169],"changes":[170],"velocity":[173],"according":[174],"Experimental":[181],"results":[182],"differential":[185],"driven,":[186],"all-terrain":[187],"mobile":[188],"illustrate":[190],"proposed":[192],"approach.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}