{"id":"https://openalex.org/W6959027504","doi":"https://doi.org/10.7907/f7fy-5t13","title":"Visual Prediction of Rover Slip: Learning Algorithms and Field Experiments","display_name":"Visual Prediction of Rover Slip: Learning Algorithms and Field Experiments","publication_year":2007,"publication_date":"2007-10-22","ids":{"openalex":"https://openalex.org/W6959027504","doi":"https://doi.org/10.7907/f7fy-5t13"},"language":"en","primary_location":{"id":"pmh:oai:thesis.library.caltech.edu:3886","is_oa":true,"landing_page_url":null,"pdf_url":"https://thesis.library.caltech.edu/3886/1/Angelova_PhD_Thesis.pdf","source":{"id":"https://openalex.org/S4306402402","display_name":"CaltechTHESIS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"type":"dissertation","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://thesis.library.caltech.edu/3886/1/Angelova_PhD_Thesis.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Angelova, Anelia Nedelcheva","orcid":"https://orcid.org/0000-0003-1822-7943"},"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":"Angelova, Anelia Nedelcheva","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-1822-7943","affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12568","display_name":"Plant Taxonomy and Phylogenetics","score":0.4683000147342682,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12568","display_name":"Plant Taxonomy and Phylogenetics","score":0.4683000147342682,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10012","display_name":"Genetic diversity and population structure","score":0.18629999458789825,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12417","display_name":"Morphological variations and asymmetry","score":0.019899999722838402,"subfield":{"id":"https://openalex.org/subfields/2608","display_name":"Geometry and Topology"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.503000020980835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49160000681877136},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/mars-rover","display_name":"Mars rover","score":0.45649999380111694},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.41990000009536743},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.40619999170303345},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3977999985218048},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.39750000834465027},{"id":"https://openalex.org/keywords/dimensionality-reduction","display_name":"Dimensionality reduction","score":0.39329999685287476},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.3903999924659729},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.3693999946117401}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7239999771118164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7042999863624573},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.503000020980835},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49160000681877136},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C2781266219","wikidata":"https://www.wikidata.org/wiki/Q389459","display_name":"Mars rover","level":3,"score":0.45649999380111694},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41990000009536743},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.40619999170303345},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3977999985218048},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.39750000834465027},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3903999924659729},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3792000114917755},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.3693999946117401},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.3637000024318695},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.35019999742507935},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.3366999924182892},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3305000066757202},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.32089999318122864},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.310699999332428},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.29440000653266907},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.29339998960494995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28209999203681946},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C28063669","wikidata":"https://www.wikidata.org/wiki/Q7167042","display_name":"Perceptual system","level":3,"score":0.2653999924659729},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.25099998712539673},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.24879999458789825},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.24799999594688416},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2468000054359436},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.24529999494552612},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.2451000064611435},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.23960000276565552},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.23549999296665192},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2320999950170517},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.227400004863739}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:thesis.library.caltech.edu:3886","is_oa":true,"landing_page_url":null,"pdf_url":"https://thesis.library.caltech.edu/3886/1/Angelova_PhD_Thesis.pdf","source":{"id":"https://openalex.org/S4306402402","display_name":"CaltechTHESIS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"doi:10.7907/f7fy-5t13","is_oa":true,"landing_page_url":"https://doi.org/10.7907/f7fy-5t13","pdf_url":null,"source":{"id":"https://openalex.org/S7407050848","display_name":"Caltech Library","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"thesis"}],"best_oa_location":{"id":"pmh:oai:thesis.library.caltech.edu:3886","is_oa":true,"landing_page_url":null,"pdf_url":"https://thesis.library.caltech.edu/3886/1/Angelova_PhD_Thesis.pdf","source":{"id":"https://openalex.org/S4306402402","display_name":"CaltechTHESIS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W6959027504.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Perception":[0],"of":[1,19,31,60,66,158,225,236,256],"the":[2,17,29,32,48,58,64,67,91,116,137,150,200,223,233,254,257],"surrounding":[3],"environment":[4,138],"is":[5,23,74,127,199],"an":[6,107,124,146,237],"essential":[7],"tool":[8],"for":[9,123,155],"intelligent":[10],"navigation":[11],"in":[12,98,106,115,139,208,269],"any":[13],"autonomous":[14,125,239],"vehicle.":[15],"In":[16,50],"context":[18],"Mars":[20,112,118],"exploration,":[21],"there":[22],"a":[24,111,140,187,209,243,248,264],"strong":[25],"motivation":[26],"to":[27,40,43,55,128,131,178,202,227],"enhance":[28],"perception":[30],"rovers":[33],"beyond":[34],"geometry-based":[35],"obstacle":[36],"avoidance,":[37],"so":[38],"as":[39,87,153],"be":[41,129,176,216],"able":[42,130,177],"predict":[44,57],"potential":[45],"interactions":[46,135],"with":[47,136,166,180],"terrain.":[49,71],"this":[51],"thesis":[52],"we":[53,185,221],"propose":[54,145,186,242],"remotely":[56],"amount":[59],"slip,":[61],"which":[62,148,193,214,231,245],"reflects":[63],"mobility":[65],"vehicle":[68],"on":[69,76,93,253],"future":[70],"The":[72,197,260],"method":[73,198,244],"based":[75],"learning":[77,157,226],"from":[78,84,172],"experience":[79],"and":[80,97,168,272],"uses":[81,149],"visual":[82,183],"information":[83],"stereo":[85],"imagery":[86],"input.":[88],"We":[89,101,144,241],"test":[90],"algorithm":[92,147,163],"several":[94],"robot":[95,126],"platforms":[96],"different":[99,159,229],"terrains.":[100],"also":[102],"demonstrate":[103],"its":[104,134],"usefulness":[105],"integrated":[108],"system,":[109],"onboard":[110,173,238],"prototype":[113],"rover":[114],"JPL":[117],"Yard.":[119],"Another":[120],"desirable":[121],"capability":[122],"learn":[132],"about":[133],"fully":[141],"automatic":[142,195],"fashion.":[143],"robot's":[151],"sensors":[152],"supervision":[154,213],"vision-based":[156],"terrain":[160],"types.":[161],"This":[162],"can":[164,215],"work":[165],"noisy":[167,217],"ambiguous":[169],"signals":[170],"provided":[171],"sensors.":[174],"To":[175],"cope":[179],"rich,":[181],"high-dimensional":[182],"representations":[184],"novel,":[188],"nonlinear":[189,205],"dimensionality":[190,206],"reduction":[191,207],"technique":[192],"exploits":[194],"supervision.":[196],"first":[201],"consider":[203,222],"supervised":[204],"probabilistic":[210],"framework":[211],"using":[212],"or":[218],"ambiguous.":[219],"Finally,":[220],"problem":[224],"recognize":[228],"terrains,":[230],"addresses":[232],"time":[234,271],"constraints":[235],"system.":[240],"automatically":[246],"learns":[247],"variable-length":[249],"feature":[250],"representation":[251],"depending":[252],"complexity":[255],"classification":[258],"task.":[259],"proposed":[261],"approach":[262],"achieves":[263],"good":[265],"trade-off":[266],"between":[267],"decrease":[268],"computational":[270],"recognition":[273],"performance.":[274]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}