{"id":"https://openalex.org/W4386918886","doi":"https://doi.org/10.1109/lra.2023.3318190","title":"Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control","display_name":"Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control","publication_year":2023,"publication_date":"2023-09-21","ids":{"openalex":"https://openalex.org/W4386918886","doi":"https://doi.org/10.1109/lra.2023.3318190"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3318190","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2305.00676","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100726313","display_name":"Hojin Lee","orcid":"https://orcid.org/0000-0002-2044-7470"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I2801036362"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hojin Lee","raw_affiliation_strings":["AI Autonomy Technology Center, Agency for Defense Development, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"AI Autonomy Technology Center, Agency for Defense Development, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100657825","display_name":"Taekyung Kim","orcid":"https://orcid.org/0000-0001-6890-5445"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taekyung Kim","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028720084","display_name":"Jungwi Mun","orcid":"https://orcid.org/0009-0006-6641-681X"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I2801036362"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungwi Mun","raw_affiliation_strings":["AI Autonomy Technology Center, Agency for Defense Development, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"AI Autonomy Technology Center, Agency for Defense Development, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100745327","display_name":"Wonsuk Lee","orcid":"https://orcid.org/0000-0003-0532-5704"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I2801036362"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonsuk Lee","raw_affiliation_strings":["AI Autonomy Technology Center, Agency for Defense Development, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"AI Autonomy Technology Center, Agency for Defense Development, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2801036362"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.274,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":1,"citation_normalized_percentile":{"value":0.556134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":67,"max":78},"biblio":{"volume":"8","issue":"11","first_page":"7663","last_page":"7670"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9999,"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":0.9999,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9992,"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":0.9989,"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/model-predictive-control","display_name":"Model Predictive Control","score":0.66442764}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.84994954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7065981},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.66442764},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5238588},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.51480454},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46898964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46119595},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4244069},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38610116},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3841369},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33938468},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2215766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3318190","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2305.00676","pdf_url":"https://arxiv.org/pdf/2305.00676","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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/2305.00676","pdf_url":"https://arxiv.org/pdf/2305.00676","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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":[{"id":"https://metadata.un.org/sdg/13","score":0.43,"display_name":"Climate action"}],"grants":[{"funder":"https://openalex.org/F4320323103","funder_display_name":"Agency for Defense Development","award_id":null}],"datasets":[],"versions":[],"referenced_works_count":30,"referenced_works":["https://openalex.org/W1969140852","https://openalex.org/W2134967036","https://openalex.org/W2140135625","https://openalex.org/W2163411428","https://openalex.org/W2600201730","https://openalex.org/W2765757095","https://openalex.org/W2795998072","https://openalex.org/W2809054577","https://openalex.org/W2913921102","https://openalex.org/W2923554444","https://openalex.org/W2954115742","https://openalex.org/W2962872206","https://openalex.org/W2963238245","https://openalex.org/W3099726730","https://openalex.org/W3106549592","https://openalex.org/W3127756416","https://openalex.org/W3181484951","https://openalex.org/W3202512200","https://openalex.org/W3206485410","https://openalex.org/W3209285784","https://openalex.org/W4205430897","https://openalex.org/W4226176749","https://openalex.org/W4285102400","https://openalex.org/W4285228542","https://openalex.org/W4298206671","https://openalex.org/W4312726754","https://openalex.org/W4313146937","https://openalex.org/W4313639585","https://openalex.org/W4385416325","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W3104633800","https://openalex.org/W3044778482","https://openalex.org/W3032871857","https://openalex.org/W3023567978","https://openalex.org/W2101105382","https://openalex.org/W2069184433","https://openalex.org/W2018658498","https://openalex.org/W1992962589","https://openalex.org/W1990079087","https://openalex.org/W1743191351"],"abstract_inverted_index":{"High-speed":[0],"autonomous":[1],"driving":[2,159],"in":[3,42,50],"off-road":[4,144],"environments":[5],"has":[6],"immense":[7],"potential":[8],"for":[9,30,60],"various":[10],"applications,":[11],"but":[12],"it":[13,27],"also":[14],"presents":[15],"challenges":[16],"due":[17],"to":[18,33,44],"the":[19,31,99,130,134,153],"complexity":[20],"of":[21,80,101,126,136],"vehicle-terrain":[22],"interactions.":[23],"In":[24],"such":[25,47],"environments,":[26],"is":[28,66],"crucial":[29],"vehicle":[32],"predict":[34],"its":[35,39],"motion":[36,82],"and":[37,71,83,104,123,155],"adjust":[38],"controls":[40],"proactively":[41],"response":[43],"environmental":[45],"changes,":[46],"as":[48],"variations":[49],"terrain":[51],"elevation.":[52],"To":[53],"this":[54],"end,":[55],"we":[56],"propose":[57],"a":[58,102,142],"method":[59],"learning":[61],"terrain-aware":[62],"kinodynamic":[63],"model":[64,76,106],"which":[65,114],"conditioned":[67],"on":[68,141],"both":[69],"proprioceptive":[70],"exteroceptive":[72],"information.":[73],"The":[74],"proposed":[75,149],"generates":[77],"reliable":[78],"predictions":[79],"6-degree-of-freedom":[81],"can":[84],"even":[85],"estimate":[86],"contact":[87],"interactions":[88],"without":[89,161],"requiring":[90],"ground":[91],"truth":[92],"force":[93],"data":[94],"during":[95],"training.":[96],"This":[97],"enables":[98],"design":[100,113],"safe":[103],"robust":[105,157],"predictive":[107],"controller":[108],"through":[109,139],"appropriate":[110],"cost":[111],"function":[112],"penalizes":[115],"sampled":[116],"trajectories":[117],"with":[118],"unstable":[119],"motion,":[120],"unsafe":[121],"interactions,":[122],"high":[124],"levels":[125],"uncertainty":[127],"derived":[128],"from":[129],"model.":[131],"We":[132],"demonstrate":[133],"effectiveness":[135],"our":[137,148],"approach":[138],"experiments":[140],"simulated":[143],"track,":[145],"showing":[146],"that":[147],"model-controller":[150],"pair":[151],"outperforms":[152],"baseline":[154],"ensures":[156],"high-speed":[158],"performance":[160],"control":[162],"failure.":[163]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4386918886","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-01-04T20:04:22.918359","created_date":"2023-09-22"}