{"id":"https://openalex.org/W4283321295","doi":"https://doi.org/10.3390/robotics11040067","title":"Towards Fully Autonomous Negative Obstacle Traversal via Imitation Learning Based Control","display_name":"Towards Fully Autonomous Negative Obstacle Traversal via Imitation Learning Based Control","publication_year":2022,"publication_date":"2022-06-22","ids":{"openalex":"https://openalex.org/W4283321295","doi":"https://doi.org/10.3390/robotics11040067"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11040067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11040067","pdf_url":"https://www.mdpi.com/2218-6581/11/4/67/pdf?version=1655891224","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/4/67/pdf?version=1655891224","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009321286","display_name":"Brian C\u00e9sar-Tondreau","orcid":null},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brian C\u00e9sar-Tondreau","raw_affiliation_strings":["Unmanned Systems Laboratory, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Unmanned Systems Laboratory, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060981901","display_name":"Garrett Warnell","orcid":"https://orcid.org/0000-0003-3846-8787"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garrett Warnell","raw_affiliation_strings":["Army Research Laboratory, Aberdeen Prooving Ground, Adelphi, MD 21005, USA"],"raw_orcid":"https://orcid.org/0000-0003-3846-8787","affiliations":[{"raw_affiliation_string":"Army Research Laboratory, Aberdeen Prooving Ground, Adelphi, MD 21005, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045890975","display_name":"Kevin Kochersberger","orcid":"https://orcid.org/0000-0002-2424-3635"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Kochersberger","raw_affiliation_strings":["Unmanned Systems Laboratory, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Unmanned Systems Laboratory, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079459509","display_name":"Nicholas R. Waytowich","orcid":"https://orcid.org/0000-0002-3786-0675"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas R. Waytowich","raw_affiliation_strings":["Army Research Laboratory, Aberdeen Prooving Ground, Adelphi, MD 21005, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Army Research Laboratory, Aberdeen Prooving Ground, Adelphi, MD 21005, USA","institution_ids":["https://openalex.org/I166416128"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009321286"],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.4059,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.58832865,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":"4","first_page":"67","last_page":"67"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9986000061035156,"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/tree-traversal","display_name":"Tree traversal","score":0.9258155226707458},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6912031173706055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6685320734977722},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6213708519935608},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6006514430046082},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5821855664253235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5332635641098022},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5130759477615356},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4990963935852051},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4840106666088104},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.4367930591106415},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4141084551811218},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4104244112968445},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.381902813911438},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.378409743309021},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1643926203250885},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10029315948486328}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.9258155226707458},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6912031173706055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6685320734977722},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6213708519935608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6006514430046082},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5821855664253235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5332635641098022},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5130759477615356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4990963935852051},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4840106666088104},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.4367930591106415},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4141084551811218},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4104244112968445},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.381902813911438},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.378409743309021},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1643926203250885},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10029315948486328},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics11040067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11040067","pdf_url":"https://www.mdpi.com/2218-6581/11/4/67/pdf?version=1655891224","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6b41176319354dfdb2b7df60bd4d97b6","is_oa":true,"landing_page_url":"https://doaj.org/article/6b41176319354dfdb2b7df60bd4d97b6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 4, p 67 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/4/67/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11040067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 11; Issue 4; Pages: 67","raw_type":"Text"},{"id":"pmh:oai:vtechworks.lib.vt.edu:10919/110912","is_oa":true,"landing_page_url":"http://hdl.handle.net/10919/110912","pdf_url":null,"source":{"id":"https://openalex.org/S4306400248","display_name":"VTechWorks (Virginia Tech)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I859038795","host_organization_name":"Virginia Tech","host_organization_lineage":["https://openalex.org/I859038795"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11040067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11040067","pdf_url":"https://www.mdpi.com/2218-6581/11/4/67/pdf?version=1655891224","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7400000095367432}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308963","display_name":"Oak Ridge Associated Universities","ror":"https://ror.org/0526p1y61"},{"id":"https://openalex.org/F4320309646","display_name":"Virginia Polytechnic Institute and State University","ror":"https://ror.org/02smfhw86"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4283321295.pdf"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1970040293","https://openalex.org/W1984645478","https://openalex.org/W2069171104","https://openalex.org/W2117211893","https://openalex.org/W2144564528","https://openalex.org/W2154444440","https://openalex.org/W2737777104","https://openalex.org/W2793955514","https://openalex.org/W2806163172","https://openalex.org/W2912063360","https://openalex.org/W2948008981","https://openalex.org/W3090153548","https://openalex.org/W3143108104","https://openalex.org/W3180484829"],"related_works":["https://openalex.org/W2366394613","https://openalex.org/W2152421698","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W2990193004","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2212805002"],"abstract_inverted_index":{"Current":[0],"research":[1],"in":[2,25,63],"experimental":[3],"robotics":[4],"has":[5],"had":[6],"a":[7,17,146,163,178],"focus":[8],"on":[9,47,97,194],"traditional,":[10],"cost-based,":[11],"navigation":[12,61],"methods.":[13],"These":[14],"methods":[15],"ascribe":[16,89],"value":[18],"of":[19,133,152],"utility":[20],"for":[21,167],"occupying":[22],"certain":[23],"locations":[24],"the":[26,64,101,131,153,184,195,200],"environment.":[27],"A":[28],"path":[29,41],"planning":[30,102],"algorithm":[31,103],"then":[32],"uses":[33,183],"this":[34,55,71,124,143],"cost":[35,81,192],"function":[36,56],"to":[37,43,57,75,82,88,93,104,118,130,161,177,189,199],"compute":[38],"an":[39],"optimal":[40],"relative":[42],"obstacle":[44,135,169],"positions":[45],"based":[46,96,193],"proximity,":[48],"visibility,":[49],"and":[50,116,157,171],"work":[51,144],"efficiency.":[52],"However,":[53],"tuning":[54],"induce":[58],"more":[59],"complex":[60],"behaviors":[62],"robot":[65],"is":[66,128,175],"not":[67],"straightforward.":[68],"For":[69],"example,":[70],"cost-based":[72],"scheme":[73],"tends":[74],"be":[76],"pessimistic":[77],"when":[78],"assigning":[79],"traversal":[80,91,136,191],"negative":[83,134,168],"obstacles.":[84],"Its":[85],"often":[86],"simpler":[87],"high":[90],"costs":[92],"costmap":[94],"cells":[95],"elevation.":[98],"This":[99,173],"forces":[100],"plan":[105],"around":[106],"uneven":[107],"terrain":[108,155,196],"rather":[109],"than":[110],"exploring":[111],"techniques":[112],"that":[113,182],"understand":[114],"if":[115],"how":[117],"safely":[119],"traverse":[120],"through":[121],"them.":[122],"In":[123],"paper,":[125],"imitation":[126,159],"learning":[127,160],"applied":[129],"task":[132],"with":[137],"Unmanned":[138],"Ground":[139],"Vehicles":[140],"(UGVs).":[141],"Specifically,":[142],"introduces":[145],"novel":[147],"point":[148],"cloud-based":[149],"state":[150],"representation":[151],"local":[154,198],"shape":[156],"employs":[158],"train":[162],"reactive":[164],"motion":[165,180],"controller":[166],"detection":[170],"traversal.":[172],"method":[174],"compared":[176],"classical":[179],"planner":[181],"dynamic":[185],"window":[186],"approach":[187],"(DWA)":[188],"assign":[190],"slope":[197],"robots":[201],"current":[202],"pose.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}