{"id":"https://openalex.org/W3214557258","doi":"https://doi.org/10.1109/icra46639.2022.9811644","title":"Complex Terrain Navigation via Model Error Prediction","display_name":"Complex Terrain Navigation via Model Error Prediction","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3214557258","doi":"https://doi.org/10.1109/icra46639.2022.9811644","mag":"3214557258"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811644","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2111.09768","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064930431","display_name":"Adam Polevoy","orcid":"https://orcid.org/0000-0001-5201-7056"},"institutions":[{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Polevoy","raw_affiliation_strings":["Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA"],"affiliations":[{"raw_affiliation_string":"Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA","institution_ids":["https://openalex.org/I2802946424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072705469","display_name":"Craig Knuth","orcid":"https://orcid.org/0000-0002-2375-1427"},"institutions":[{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Craig Knuth","raw_affiliation_strings":["Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA"],"affiliations":[{"raw_affiliation_string":"Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA","institution_ids":["https://openalex.org/I2802946424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040555186","display_name":"Katie M. Popek","orcid":"https://orcid.org/0000-0003-2453-5328"},"institutions":[{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katie M. Popek","raw_affiliation_strings":["Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA"],"affiliations":[{"raw_affiliation_string":"Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA","institution_ids":["https://openalex.org/I2802946424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044895481","display_name":"Kapil D. Katyal","orcid":null},"institutions":[{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kapil D. Katyal","raw_affiliation_strings":["Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA"],"affiliations":[{"raw_affiliation_string":"Applied Physics Laboratory, Johns Hopkins University, Laurel, MD, USA","institution_ids":["https://openalex.org/I2802946424"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.085,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.822972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":92},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9646,"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":0.9646,"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":0.9636,"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/T10895","display_name":"Species Distribution and Climate Change","score":0.9099,"subfield":{"id":"https://openalex.org/subfields/2302","display_name":"Ecological Modeling"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.80658096}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8986512},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.80658096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.72734344},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5854486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5398184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5248066},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.51502776},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5068751},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47972006},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4425565},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3319165},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19581774},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.088676274},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811644","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2111.09768","pdf_url":"https://arxiv.org/pdf/2111.09768","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2111.09768","pdf_url":"https://arxiv.org/pdf/2111.09768","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"display_name":"Life below water","score":0.41,"id":"https://metadata.un.org/sdg/14"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":24,"referenced_works":["https://openalex.org/W1599888605","https://openalex.org/W1990012555","https://openalex.org/W2013347925","https://openalex.org/W2031456685","https://openalex.org/W2119112357","https://openalex.org/W2133233905","https://openalex.org/W2167340365","https://openalex.org/W2401247923","https://openalex.org/W2750632489","https://openalex.org/W2765757095","https://openalex.org/W2903506349","https://openalex.org/W2905090914","https://openalex.org/W2913921102","https://openalex.org/W2967657713","https://openalex.org/W2979863294","https://openalex.org/W3005486462","https://openalex.org/W3006552748","https://openalex.org/W3023767264","https://openalex.org/W3029192705","https://openalex.org/W3031634197","https://openalex.org/W3109220298","https://openalex.org/W3117945981","https://openalex.org/W3127756416","https://openalex.org/W3206845751"],"related_works":["https://openalex.org/W618994464","https://openalex.org/W4285089922","https://openalex.org/W2381278952","https://openalex.org/W2380019117","https://openalex.org/W2359600231","https://openalex.org/W2155467318","https://openalex.org/W2146449547","https://openalex.org/W2060743914","https://openalex.org/W187779371","https://openalex.org/W122632647"],"abstract_inverted_index":{"Robot":[0],"navigation":[1,94,113],"traditionally":[2],"relies":[3],"on":[4,76,124],"building":[5],"an":[6,47,88],"explicit":[7],"map":[8],"that":[9,58,121],"is":[10,115],"used":[11],"to":[12,16,29,34,45,55,61,80],"plan":[13],"collision-free":[14],"trajectories":[15],"a":[17,31,81,116,125,130],"desired":[18],"target.":[19],"In":[20],"deformable,":[21],"complex":[22],"terrain,":[23],"using":[24,96],"geometric-based":[25],"approaches":[26],"can":[27],"fail":[28],"find":[30],"path":[32],"due":[33],"mischaracterizing":[35],"deformable":[36],"objects":[37],"as":[38,97,99],"rigid":[39],"and":[40,54,108,136],"impassable.":[41],"Instead,":[42],"we":[43,73,122],"learn":[44],"predict":[46],"estimate":[48],"of":[49,51,102,132],"traversability":[50],"terrain":[52,133],"regions":[53,57],"prefer":[56],"are":[59],"easier":[60],"navigate":[62],"(e.g.,":[63],"short":[64],"grass":[65],"over":[66],"small":[67],"shrubs).":[68],"Rather":[69],"than":[70],"predicting":[71],"collisions,":[72],"instead":[74],"regress":[75],"realized":[77],"error":[78],"compared":[79],"canonical":[82],"system":[83,114],"model.":[84],"We":[85],"train":[86],"with":[87],"on-policy":[89],"approach,":[90],"resulting":[91],"in":[92],"successful":[93],"policies":[95],"little":[98],"50":[100],"minutes":[101],"training":[103],"data":[104],"split":[105],"across":[106],"simulation":[107],"real":[109],"world.":[110],"Our":[111],"learning-based":[112],"sample":[117],"efficient":[118],"short-term":[119],"planner":[120],"demonstrate":[123],"Clearpath":[126],"Husky":[127],"navigating":[128],"through":[129],"variety":[131],"including":[134],"grassland":[135],"forest.":[137]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3214557258","counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2025-01-22T01:11:41.375950","created_date":"2021-11-22"}