{"id":"https://openalex.org/W2133918634","doi":"https://doi.org/10.1177/0278364910370241","title":"Non-parametric Learning to Aid Path Planning over Slopes","display_name":"Non-parametric Learning to Aid Path Planning over Slopes","publication_year":2010,"publication_date":"2010-05-04","ids":{"openalex":"https://openalex.org/W2133918634","doi":"https://doi.org/10.1177/0278364910370241","mag":"2133918634"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910370241","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910370241","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/A5079292151","display_name":"Sisir Karumanchi","orcid":"https://orcid.org/0000-0002-0685-4125"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Sisir Karumanchi","raw_affiliation_strings":["ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063479035","display_name":"Thomas Allen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Thomas Allen","raw_affiliation_strings":["ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111908923","display_name":"Tim Bailey","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Tim Bailey","raw_affiliation_strings":["ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110219276","display_name":"Steve Scheding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Steve Scheding","raw_affiliation_strings":["ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]},{"raw_affiliation_string":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre For Field Robotics (ACFR), Department of Mechanical, Mechatronic and Aerospace Engineering, The University of Sydney, NSW 2006, Australia,","institution_ids":["https://openalex.org/I4210127558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063479035","https://openalex.org/A5079292151","https://openalex.org/A5110219276","https://openalex.org/A5111908923"],"corresponding_institution_ids":["https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":1.5216,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.83072744,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"29","issue":"8","first_page":"997","last_page":"1018"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9898999929428101,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9898999929428101,"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"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9616000056266785,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6701640486717224},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6346454620361328},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5938898921012878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5503461360931396},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5213528871536255},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.47170472145080566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4712429642677307},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.47045910358428955},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33256226778030396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31614017486572266},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23506313562393188},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20603421330451965},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.160884827375412},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1604270339012146}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6701640486717224},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6346454620361328},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5938898921012878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5503461360931396},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5213528871536255},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.47170472145080566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4712429642677307},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.47045910358428955},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33256226778030396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31614017486572266},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23506313562393188},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20603421330451965},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.160884827375412},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1604270339012146},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364910370241","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910370241","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:10.1.1.591.3322","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.591.3322","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-personal.acfr.usyd.edu.au/tbailey/papers/karumanchi2010ijrr.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.591.4335","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.591.4335","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-personal.acfr.usyd.edu.au/tbailey/papers/karumanchi09rss.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7799999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320331430","display_name":"New South Wales Government","ror":"https://ror.org/0067dvq63"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W107751551","https://openalex.org/W568924265","https://openalex.org/W1490722062","https://openalex.org/W1498688739","https://openalex.org/W1506176787","https://openalex.org/W1506806321","https://openalex.org/W1512149552","https://openalex.org/W1515851193","https://openalex.org/W1571870753","https://openalex.org/W1578483761","https://openalex.org/W1601795611","https://openalex.org/W1632686212","https://openalex.org/W1633751774","https://openalex.org/W1663973292","https://openalex.org/W1746819321","https://openalex.org/W1751898876","https://openalex.org/W1858012409","https://openalex.org/W1999874108","https://openalex.org/W2008977061","https://openalex.org/W2031456685","https://openalex.org/W2078550116","https://openalex.org/W2098949458","https://openalex.org/W2106789842","https://openalex.org/W2111683289","https://openalex.org/W2116764847","https://openalex.org/W2116814604","https://openalex.org/W2120636621","https://openalex.org/W2121863487","https://openalex.org/W2121990344","https://openalex.org/W2149764047","https://openalex.org/W2162637809","https://openalex.org/W2163881570","https://openalex.org/W2170078560","https://openalex.org/W2271712613","https://openalex.org/W2295064581","https://openalex.org/W2613420603","https://openalex.org/W2615497679","https://openalex.org/W2617443499","https://openalex.org/W2759274196","https://openalex.org/W2978329087","https://openalex.org/W4206519171","https://openalex.org/W4210274491","https://openalex.org/W4214717370","https://openalex.org/W4255243782","https://openalex.org/W4285719527","https://openalex.org/W4299718521","https://openalex.org/W6629804754"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401","https://openalex.org/W4285089922"],"abstract_inverted_index":{"In":[0,94],"this":[1],"paper":[2],"we":[3],"address":[4],"the":[5,9,39,50,55],"problem":[6],"of":[7,68,86,116],"closing":[8],"loop":[10],"from":[11,61],"perception":[12],"to":[13,33,48,54,102,123],"action":[14],"selection":[15,85],"for":[16,111],"unmanned":[17],"ground":[18],"vehicles,":[19],"with":[20,83],"a":[21,35,46,76,104],"focus":[22],"on":[23],"navigating":[24],"slopes.":[25,93],"A":[26],"new":[27],"non-parametric":[28],"learning":[29],"technique":[30],"is":[31,43,72,100],"presented":[32],"generate":[34],"mobility":[36,112,117],"representation":[37,77,107],"where":[38],"maximum":[40],"feasible":[41],"speed":[42],"used":[44],"as":[45,109],"criterion":[47],"classify":[49],"world.":[51],"The":[52],"inputs":[53],"algorithm":[56],"are":[57,126],"terrain":[58],"gradients":[59],"derived":[60],"an":[62,96],"elevation":[63],"map":[64,113,118],"and":[65,89,120],"past":[66],"observations":[67],"wheel":[69],"slip.":[70],"It":[71],"argued":[73],"that":[74],"such":[75],"can":[78],"aid":[79],"in":[80,91],"path":[81,124],"planning":[82,125],"improved":[84],"vehicle":[87],"heading":[88],"velocity":[90],"off-road":[92],"addition,":[95],"information":[97],"theoretic":[98],"test":[99],"proposed":[101],"validate":[103],"chosen":[105],"proprioceptive":[106],"(such":[108],"slip)":[110],"generation.":[114],"Results":[115],"generation":[119],"its":[121],"benefits":[122],"shown.":[127]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}