{"id":"https://openalex.org/W4391117283","doi":"https://doi.org/10.55417/fr.2024006","title":"STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Navigation; Results From the DARPA Subterranean Challenge","display_name":"STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Navigation; Results From the DARPA Subterranean Challenge","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391117283","doi":"https://doi.org/10.55417/fr.2024006"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2024006","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2024006","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2024006","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015731909","display_name":"Anushri Dixit","orcid":"https://orcid.org/0000-0002-9698-2189"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Anushri Dixit","raw_affiliation_strings":["California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101809215","display_name":"David D. Fan","orcid":"https://orcid.org/0000-0002-8261-1045"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David D. Fan","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology","NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057288593","display_name":"Kyohei Otsu","orcid":"https://orcid.org/0000-0002-9363-8817"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyohei Otsu","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology","NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048071893","display_name":"Sharmita Dey","orcid":"https://orcid.org/0000-0001-8058-4867"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sharmita Dey","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology","NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-Akbar Agha-Mohammadi","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology","NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology * Indicates equal contribution. \u00a92023, California Institute of Technology. All Rights Reserved","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel Burdick","raw_affiliation_strings":["California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5015731909"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":1.4739,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79295635,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"4","issue":null,"first_page":"182","last_page":"210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9970999956130981,"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":0.9970999956130981,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9559999704360962,"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/computer-science","display_name":"Computer science","score":0.6123194098472595},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.588824450969696},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5829557180404663},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.57591712474823},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.47786301374435425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3895644545555115},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14116966724395752}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6123194098472595},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.588824450969696},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5829557180404663},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.57591712474823},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.47786301374435425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3895644545555115},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14116966724395752},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2024006","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2024006","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.55417/fr.2024006","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2024006","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.550000011920929,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W9583197","https://openalex.org/W580164506","https://openalex.org/W1144593952","https://openalex.org/W1836839941","https://openalex.org/W1974868116","https://openalex.org/W1990311592","https://openalex.org/W2001009060","https://openalex.org/W2019291268","https://openalex.org/W2019965290","https://openalex.org/W2031355801","https://openalex.org/W2036835578","https://openalex.org/W2050883740","https://openalex.org/W2051610568","https://openalex.org/W2062731992","https://openalex.org/W2125240595","https://openalex.org/W2142224528","https://openalex.org/W2149416133","https://openalex.org/W2165428239","https://openalex.org/W2167314816","https://openalex.org/W2293802835","https://openalex.org/W2471969791","https://openalex.org/W2765302304","https://openalex.org/W2809054577","https://openalex.org/W2909595458","https://openalex.org/W2960249673","https://openalex.org/W2963082836","https://openalex.org/W2963255431","https://openalex.org/W2963732412","https://openalex.org/W2982643911","https://openalex.org/W3004418007","https://openalex.org/W3021487874","https://openalex.org/W3044582844","https://openalex.org/W3046127830","https://openalex.org/W3046272382","https://openalex.org/W3090824357","https://openalex.org/W3102407944","https://openalex.org/W3109039236","https://openalex.org/W3111425826","https://openalex.org/W3115965176","https://openalex.org/W3125529886","https://openalex.org/W3174748154","https://openalex.org/W3212567339","https://openalex.org/W4210392450","https://openalex.org/W4224288354","https://openalex.org/W4284974155","https://openalex.org/W4285176499","https://openalex.org/W4285237227","https://openalex.org/W4287262265","https://openalex.org/W4287871421","https://openalex.org/W4301014524","https://openalex.org/W4312943646","https://openalex.org/W4312959444"],"related_works":["https://openalex.org/W2136735429","https://openalex.org/W170547082","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2909067415","https://openalex.org/W4285089922","https://openalex.org/W4226082913","https://openalex.org/W2990193004","https://openalex.org/W2212805002"],"abstract_inverted_index":{"Although":[0],"autonomy":[1,12],"has":[2],"gained":[3],"widespread":[4],"usage":[5],"in":[6,13,49,64,158],"structured":[7],"and":[8,15,24,33,39,71,77,85,93,108,135,145,154,173,189],"controlled":[9],"environments,":[10],"robotic":[11,156],"unknown":[14,73],"off-road":[16],"terrain":[17],"remains":[18],"a":[19,75],"difficult":[20],"problem.":[21],"Extreme,":[22],"off-road,":[23],"unstructured":[25],"environments":[26,66],"such":[27],"as":[28],"undeveloped":[29],"wilderness,":[30],"caves,":[31],"rubble,":[32],"other":[34],"post-disaster":[35],"sites":[36],"pose":[37],"unique":[38],"challenging":[40],"problems":[41],"for":[42,128,140,181],"autonomous":[43,60],"navigation.":[44],"Based":[45],"on":[46,152],"our":[47,150],"participation":[48],"the":[50,101,162,182],"DARPA":[51,183],"Subterranean":[52,184],"Challenge,":[53],"we":[54],"propose":[55],"an":[56],"approach":[57],"to":[58,126],"improve":[59],"traversal":[61],"of":[62],"robots":[63],"subterranean":[65],"that":[67,131],"are":[68],"perceptually":[69],"degraded":[70],"completely":[72],"through":[74],"traversability":[76,94],"planning":[78,112],"framework":[79],"called":[80],"STEP":[81],"(Stochastic":[82],"Traversability":[83],"Evaluation":[84],"Planning).":[86],"We":[87,143],"present":[88],"1)":[89],"rapid":[90],"uncertainty-aware":[91],"mapping":[92],"evaluation,":[95],"2)":[96],"tail":[97],"risk":[98,107],"assessment":[99],"using":[100,113],"Conditional":[102],"Value-at-Risk":[103],"(CVaR),":[104],"3)":[105],"efficient":[106],"constraint-aware":[109],"kinodynamic":[110],"motion":[111],"sequential":[114],"quadratic":[115],"programming-based":[116],"(SQP)":[117],"model":[118],"predictive":[119],"control":[120],"(MPC),":[121],"4)":[122],"fast":[123],"recovery":[124],"behaviors":[125],"account":[127],"unexpected":[129],"scenarios":[130],"may":[132],"cause":[133],"failure,":[134],"5)":[136],"risk-based":[137],"gait":[138],"adaptation":[139],"quadrupedal":[141],"robots.":[142],"illustrate":[144],"validate":[146],"extensive":[147],"results":[148],"from":[149],"experiments":[151],"wheeled":[153],"legged":[155],"platforms":[157],"field":[159],"studies":[160],"at":[161],"Valentine":[163],"Cave,":[164],"CA":[165],"(cave":[166],"environment),":[167,172],"Kentucky":[168],"Underground,":[169],"KY":[170,177],"(mine":[171],"Louisville":[174],"Mega":[175],"Cavern,":[176],"(final":[178],"competition":[179],"site":[180],"Challenge":[185],"with":[186],"tunnel,":[187],"urban,":[188],"cave":[190],"environments).":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2024-01-23T00:00:00"}
