{"id":"https://openalex.org/W4225242395","doi":"https://doi.org/10.48550/arxiv.2203.04541","title":"PUTN: A Plane-fitting based Uneven Terrain Navigation Framework","display_name":"PUTN: A Plane-fitting based Uneven Terrain Navigation Framework","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4225242395","doi":"https://doi.org/10.48550/arxiv.2203.04541"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2203.04541","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/abs/2203.04541","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080602816","display_name":"Zhuozhu Jian","orcid":"https://orcid.org/0000-0003-2978-0875"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jian, Zhuozhu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026993600","display_name":"Zihong Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Zihong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011384237","display_name":"Xiaofang Zhou","orcid":"https://orcid.org/0000-0001-6343-1455"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Xiao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110778299","display_name":"Bin Lan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lan, Bin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008106624","display_name":"Anxing Xiao","orcid":"https://orcid.org/0000-0001-7184-8365"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Anxing","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737125","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-3542-0593"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xueqian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644629","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-7163-345X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Bin","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":59},"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":0.9962,"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":0.9962,"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":0.9881,"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/robustness","display_name":"Robustness","score":0.6295929},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.47755083}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.66287297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.65403295},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6498603},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6295929},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.56467384},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.47755083},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.45591012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44436556},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42608675},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3872528},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38025743},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37807086},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.35558453},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23203069},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.113491654},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2203.04541","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.04541","pdf_url":"http://arxiv.org/pdf/2203.04541","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},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2203.04541","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","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/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2203.04541","pdf_url":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.53,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4388720133","https://openalex.org/W4285089922","https://openalex.org/W3158818664","https://openalex.org/W2863424594","https://openalex.org/W2797949337","https://openalex.org/W2564325388","https://openalex.org/W2372633663","https://openalex.org/W2108906364","https://openalex.org/W1991478428","https://openalex.org/W1987694097"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,38],"of":[2,47,114,191,202],"ground":[3],"robots":[4],"has":[5],"been":[6],"widely":[7],"used":[8,110,128],"in":[9,20,26,98,182],"indoor":[10],"structured":[11],"2D":[12],"environments,":[13,24],"but":[14],"there":[15],"are":[16,96,185],"still":[17],"many":[18],"challenges":[19],"outdoor":[21],"3D":[22],"unstructured":[23],"especially":[25],"rough,":[27],"uneven":[28,36],"terrains.":[29],"This":[30],"paper":[31],"proposed":[32,71],"a":[33,74,82,87,102,168],"plane-fitting":[34],"based":[35,55],"terrain":[37],"framework":[39],"(PUTN)":[40],"to":[41,72,81,100,111,151,164,187],"solve":[42],"this":[43],"problem.":[44],"The":[45,194],"implementation":[46],"PUTN":[48],"is":[49,70,109,127,136,179,197],"divided":[50],"into":[51],"three":[52],"steps.":[53],"First,":[54],"on":[56,90],"Rapidly-exploring":[57],"Random":[58],"Trees":[59],"(RRT),":[60],"an":[61],"improved":[62],"sample-based":[63],"algorithm":[64,172],"called":[65],"Plane":[66],"Fitting":[67],"RRT*":[68],"(PF-RRT*)":[69],"obtain":[73],"sparse":[75,121],"trajectory.":[76],"Each":[77],"sampling":[78,125],"point":[79,92,162],"corresponds":[80],"custom":[83],"traversability":[84,113,147],"index":[85,148],"and":[86,123,149,155,176],"fitted":[88],"plane":[89],"the":[91,115,120,124,130,146,152,160,165,189,192,200,203],"cloud.":[93],"These":[94],"planes":[95],"connected":[97],"series":[99],"form":[101],"traversable":[103],"strip.":[104],"Second,":[105],"Gaussian":[106],"Process":[107],"Regression":[108],"generate":[112],"dense":[116],"trajectory":[117],"interpolated":[118],"from":[119],"trajectory,":[122],"tree":[126],"as":[129],"training":[131],"set.":[132],"Finally,":[133],"local":[134],"planning":[135,171],"performed":[137],"using":[138],"nonlinear":[139],"model":[140],"predictive":[141],"control":[142],"(NMPC).":[143],"By":[144],"adding":[145,156],"uncertainty":[150],"cost":[153],"function,":[154,167],"obstacles":[157],"generated":[158],"by":[159],"real-time":[161],"cloud":[163],"constraint":[166],"safe":[169],"motion":[170],"with":[173],"smooth":[174],"speed":[175],"strong":[177],"robustness":[178],"available.":[180],"Experiments":[181],"real":[183],"scenarios":[184],"conducted":[186],"verify":[188],"effectiveness":[190],"method.":[193],"source":[195],"code":[196],"released":[198],"for":[199],"reference":[201],"community.":[204]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4225242395","counts_by_year":[],"updated_date":"2025-03-05T02:54:04.329118","created_date":"2022-05-01"}