{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T23:02:56Z","timestamp":1770332576758,"version":"3.49.0"},"publisher-location":"Cham","reference-count":26,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783030711504","type":"print"},{"value":"9783030711511","type":"electronic"}],"license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021]]},"DOI":"10.1007\/978-3-030-71151-1_15","type":"book-chapter","created":{"date-parts":[[2021,3,27]],"date-time":"2021-03-27T14:02:47Z","timestamp":1616853767000},"page":"161-173","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Autonomous Off-Road Navigation over\u00a0Extreme Terrains with\u00a0Perceptually-Challenging Conditions"],"prefix":"10.1007","author":[{"given":"Rohan","family":"Thakker","sequence":"first","affiliation":[]},{"given":"Nikhilesh","family":"Alatur","sequence":"additional","affiliation":[]},{"given":"David D.","family":"Fan","sequence":"additional","affiliation":[]},{"given":"Jesus","family":"Tordesillas","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Paton","sequence":"additional","affiliation":[]},{"given":"Kyohei","family":"Otsu","sequence":"additional","affiliation":[]},{"given":"Olivier","family":"Toupet","sequence":"additional","affiliation":[]},{"given":"Ali-akbar","family":"Agha-mohammadi","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,3,28]]},"reference":[{"key":"15_CR1","doi-asserted-by":"crossref","unstructured":"Haruyama, J.,\u00a0Morota, T.,\u00a0Kobayashi, S.,\u00a0Sawai, S., Lucey, P.G.,\u00a0Shirao, M., Nishino, M.N.: Lunar holes and lava tubes as resources for lunar science and exploration. In: Moon, pp.\u00a0139\u2013163. Springer, Heidelberg (2012)","DOI":"10.1007\/978-3-642-27969-0_6"},{"key":"15_CR2","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9407.001.0001","volume-title":"Disaster Robotics","author":"RR Murphy","year":"2014","unstructured":"Murphy, R.R.: Disaster Robotics. MIT Press, Cambridge (2014)"},{"issue":"4","key":"15_CR3","doi-asserted-by":"publisher","first-page":"1373","DOI":"10.1016\/j.engappai.2013.01.006","volume":"26","author":"P Papadakis","year":"2013","unstructured":"Papadakis, P.: Terrain traversability analysis methods for unmanned ground vehicles: a survey. Eng. Appl. Artif. Intell. 26(4), 1373\u20131385 (2013)","journal-title":"Eng. Appl. Artif. Intell."},{"issue":"5","key":"15_CR4","doi-asserted-by":"publisher","first-page":"768","DOI":"10.1002\/rob.21892","volume":"37","author":"K Otsu","year":"2019","unstructured":"Otsu, K., Matheron, G., Ghosh, S., Toupet, O., Ono, M.: Fast approximate clearance evaluation for rovers with articulated suspension systems. J. Field Robot. 37(5), 768\u2013785 (2019)","journal-title":"J. Field Robot."},{"issue":"5","key":"15_CR5","doi-asserted-by":"publisher","first-page":"940","DOI":"10.1002\/rob.21700","volume":"34","author":"P Kr\u00fcsi","year":"2017","unstructured":"Kr\u00fcsi, P., Furgale, P., Bosse, M., Siegwart, R.: Driving on point clouds: motion planning, trajectory optimization, and terrain assessment in generic nonplanar environments. J. Field Robot. 34(5), 940\u2013984 (2017)","journal-title":"J. Field Robot."},{"key":"15_CR6","unstructured":"Florence, P.,\u00a0Carter, J.,\u00a0Tedrake, R.: Integrated perception and control at high speed: evaluating collision avoidance maneuvers without maps. In: Workshop on the Algorithmic Foundations of Robotics (WAFR) (2016)"},{"key":"15_CR7","unstructured":"Florence, P.R., Carter, J., Ware, J., Tedrake, R.: NanoMap: fast, uncertainty-aware proximity queries with lazy search over local 3D data. In: IEEE International Conference on Robotics and Automation (ICRA)"},{"issue":"P1","key":"15_CR8","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1016\/j.robot.2014.09.003","volume":"63","author":"M Brunner","year":"2015","unstructured":"Brunner, M., Fiolka, T., Schulz, D., Schlick, C.M.: Design and comparative evaluation of an iterative contact point estimation method for static stability estimation of mobile actively reconfigurable robots. Robot. Auton. Syst. 63(P1), 89\u2013107 (2015)","journal-title":"Robot. Auton. Syst."},{"key":"15_CR9","unstructured":"Brunner, M.,\u00a0Br\u00fcggemann, B.,\u00a0Schulz, D.: Autonomously traversing obstacles: metrics for path planning of reconfigurable robots on rough terrain. In: International Conference on Informatics in Control, Automation and Robotics (ICINCO), vol.\u00a02, pp.\u00a058\u201369 (2012)"},{"key":"15_CR10","unstructured":"Ma, Y.,\u00a0Shiller, Z.: Pose Estimation of Vehicles Over Uneven Terrain (2019)"},{"key":"15_CR11","doi-asserted-by":"crossref","unstructured":"Iagnemma, K.,\u00a0Shimoda, S.,\u00a0Shiller, Z.: Near-optimal navigation of high speed mobile robots on uneven terrain. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp.\u00a04098\u20134103 (2008)","DOI":"10.1109\/IROS.2008.4650592"},{"issue":"4","key":"15_CR12","doi-asserted-by":"publisher","first-page":"3019","DOI":"10.1109\/LRA.2018.2849506","volume":"3","author":"P Fankhauser","year":"2018","unstructured":"Fankhauser, P., Bloesch, M., Hutter, M.: Probabilistic terrain mapping for mobile robots with uncertain localization. IEEE Robot. Autom. Lett. 3(4), 3019\u20133026 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"15_CR13","first-page":"2025","volume":"5","author":"SB Goldberg","year":"2002","unstructured":"Goldberg, S.B., Maimone, M.W., Matthies, L.: Stereo vision and rover navigation software for planetary exploration. IEEE Aerosp. Conf. 5, 2025\u20132036 (2002)","journal-title":"IEEE Aerosp. Conf."},{"key":"15_CR14","doi-asserted-by":"crossref","unstructured":"Ebadi, K.,\u00a0Chang, Y.,\u00a0Palieri, M.,\u00a0Stephens, A.,\u00a0Hatteland, A.,\u00a0Heiden, E.,\u00a0Thakur, A.,\u00a0Morrell, B.,\u00a0Carlone, L.,\u00a0Agha-Mohammadi, A.: LAMP: Large-scale autonomous mapping and positioning for exploration of perceptually-degraded subterranean environments. In: IEEE International Conference on Robotics and Automation, pp.\u00a080\u201386 (2020)","DOI":"10.1109\/ICRA40945.2020.9197082"},{"key":"15_CR15","unstructured":"Santamaria, A.,\u00a0Thakker, R., Fan, D.D.,\u00a0Morrell, B.,\u00a0Agha, A.: Towards resilient autonomous navigation of drones. In: International Symposium on Robotics Research (2019)"},{"issue":"2","key":"15_CR16","doi-asserted-by":"publisher","first-page":"268","DOI":"10.1177\/0278364913501564","volume":"33","author":"A Agha-Mohammadi","year":"2014","unstructured":"Agha-Mohammadi, A., Chakravorty, S., Amato, N.: FIRM: sampling-based feedback motion planning under motion uncertainty and imperfect measurements. Int. J. Robot. Res. 33(2), 268\u2013304 (2014)","journal-title":"Int. J. Robot. Res."},{"key":"15_CR17","doi-asserted-by":"crossref","unstructured":"Bouman, A., Ginting, M.F.,\u00a0Alatur, N.,\u00a0Palieri, M., Fan, D.D.,\u00a0Touma, T.,\u00a0Pailevanian, T., Kim, S.-K.,\u00a0Otsu, K.,\u00a0Burdick, J.,\u00a0Agha-Mohammadi, A.: Autonomous spot: long-range autonomous exploration of extreme environments with legged locomotion. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp.\u00a01057\u20131064 (2020)","DOI":"10.1109\/IROS45743.2020.9341361"},{"key":"15_CR18","doi-asserted-by":"crossref","unstructured":"Ebadi, K.,\u00a0Chang, Y.,\u00a0Palieri, M.,\u00a0Stephens, A.,\u00a0Hatteland, A.,\u00a0Heiden, E.,\u00a0Thakur, A.,\u00a0Funabiki, N.,\u00a0Morrell, B.,\u00a0Wood, S., et\u00a0al.: LAMP: large-scale autonomous mapping and positioning for exploration of perceptually-degraded subterranean environments. In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a080\u201386. IEEE (2020)","DOI":"10.1109\/ICRA40945.2020.9197082"},{"key":"15_CR19","doi-asserted-by":"crossref","unstructured":"Kramer, A.,\u00a0Stahoviak, C.,\u00a0Santamaria-Navarro, A., Agha-Mohammadi, A.-A.,\u00a0Heckman, C.: Radar-inertial ego-velocity estimation for visually degraded environments. In: 2020 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a05739\u20135746. IEEE (2020)","DOI":"10.1109\/ICRA40945.2020.9196666"},{"key":"15_CR20","doi-asserted-by":"crossref","unstructured":"Tagliabue, A.,\u00a0Tordesillas, J.,\u00a0Cai, X.,\u00a0Angel Santamaria-Navarro, A.,\u00a0How, J.P.,\u00a0Carlone, L., Agha-Mohammadi, A.-A.: Lion: Lidar-inertial observability-aware navigator for vision-denied environments. In: International Symposium on Experimental Robotics (2020)","DOI":"10.1007\/978-3-030-71151-1_34"},{"issue":"12\u201313","key":"15_CR21","first-page":"1352","volume":"38","author":"A-A Agha-Mohammadi","year":"2017","unstructured":"Agha-Mohammadi, A.-A., Heiden, E., Hausman, K., Sukhatme, G.: Confidence-rich grid mapping. Int. J. Robot. Res. 38(12\u201313), 1352\u20131374 (2017)","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"15_CR22","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1007\/s10514-012-9321-0","volume":"34","author":"A Hornung","year":"2013","unstructured":"Hornung, A., Wurm, K.M., Bennewitz, M., Stachniss, C., Burgard, W.: OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Auton. Robots 34(3), 189\u2013206 (2013)","journal-title":"Auton. Robots"},{"key":"15_CR23","doi-asserted-by":"crossref","unstructured":"Otsu, K.,\u00a0Tepsuporn, S.,\u00a0Thakker, R., Vaquero, T.S., Edlund, J.A.,\u00a0Walsh, W.,\u00a0Miles, G.,\u00a0Heywood, T., Wolf, M.T., Agha-Mohammadi, A.-A.: Supervised autonomy for communication-degraded subterranean exploration by a robot team. In: IEEE Aerospace Conference, pp.\u00a01\u20139 (2020)","DOI":"10.1109\/AERO47225.2020.9172537"},{"key":"15_CR24","doi-asserted-by":"crossref","unstructured":"Himmelsbach, M., Hundelshausen, F.V., Wuensche, H.-J.: Fast segmentation of 3D point clouds for ground vehicles. In: Intelligent Vehicles Symposium (IV), 2010 IEEE, pp.\u00a0560\u2013565. IEEE (2010)","DOI":"10.1109\/IVS.2010.5548059"},{"issue":"1","key":"15_CR25","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1109\/100.580977","volume":"4","author":"D Fox","year":"1997","unstructured":"Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robot. Autom. Mag. 4(1), 23\u201333 (1997)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"15_CR26","doi-asserted-by":"crossref","unstructured":"Rosmann, C.,\u00a0Hoffmann, F.,\u00a0Bertram, T.: Kinodynamic trajectory optimization and control for car-like robots, pp.\u00a05681\u20135686 (2017)","DOI":"10.1109\/IROS.2017.8206458"}],"container-title":["Springer Proceedings in Advanced Robotics","Experimental Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-71151-1_15","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,8]],"date-time":"2022-08-08T11:04:05Z","timestamp":1659956645000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-71151-1_15"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"ISBN":["9783030711504","9783030711511"],"references-count":26,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-71151-1_15","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"value":"2511-1256","type":"print"},{"value":"2511-1264","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]},"assertion":[{"value":"28 March 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ISER","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Symposium on Experimental Robotics","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Malta","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2020","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"9 November 2020","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"12 November 2020","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"iser2020","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}