{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,16]],"date-time":"2026-04-16T08:04:11Z","timestamp":1776326651020,"version":"3.50.1"},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T00:00:00Z","timestamp":1563408000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,4]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Steep slope vineyards are a complex scenario for the development of ground robots. Planning a safe robot trajectory is one of the biggest challenges in this scenario, characterized by irregular surfaces and strong slopes (more than 35\u00b0). Moving the robot through a pile of stones, spots with high slope or\/and with wrong robot yaw may result in an abrupt fall of the robot, damaging the equipment and centenary vines, and sometimes imposing injuries to humans. This paper presents a novel approach for path planning aware of center of mass of the robot for application in sloppy terrains. Agricultural robotic path planning (AgRobPP) is a framework that considers the A<jats:sup>*<\/jats:sup> algorithm by expanding inner functions to deal with three main inputs: multi-layer occupation grid map, altitude map and robot\u2019s center of mass. This multi-layer grid map is updated by obstacles taking into account the terrain slope and maximum robot posture. AgRobPP is also extended with algorithms for local trajectory replanning during the execution of a trajectory that is blocked by the presence of an obstacle, always assuring the safety of the re-planned path. AgRobPP has a novel PointCloud translator algorithm called PointCloud to grid map and digital elevation model (PC2GD), which extracts the occupation grid map and digital elevation model from a PointCloud. This can be used in AgRobPP core algorithms and farm management intelligent systems as well. AgRobPP algorithms demonstrate a great performance with the real data acquired from AgRob V16, a robotic platform developed for autonomous navigation in steep slope vineyards.<\/jats:p>","DOI":"10.1017\/s0263574719000961","type":"journal-article","created":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T06:15:11Z","timestamp":1563430511000},"page":"684-698","source":"Crossref","is-referenced-by-count":52,"title":["Path Planning Aware of Robot\u2019s Center of Mass for Steep Slope Vineyards"],"prefix":"10.1017","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0255-5005","authenticated-orcid":false,"given":"Lu\u00eds","family":"Santos","sequence":"first","affiliation":[]},{"given":"Filipe","family":"Santos","sequence":"additional","affiliation":[]},{"given":"Jorge","family":"Mendes","sequence":"additional","affiliation":[]},{"given":"Pedro","family":"Costa","sequence":"additional","affiliation":[]},{"given":"Jos\u00e9","family":"Lima","sequence":"additional","affiliation":[]},{"given":"Ricardo","family":"Reis","sequence":"additional","affiliation":[]},{"given":"Pranjali","family":"Shinde","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,7,18]]},"reference":[{"key":"S0263574719000961_ref20","doi-asserted-by":"crossref","unstructured":"20. Stoyanov, T. , Magnusson, M. , Andreasson, H. and J., A. Lilienthal, \u201cPath Planning in 3D Environments Using the Normal Distributions Transform,\u201d 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan (IEEE) pp. 3263\u20133268.","DOI":"10.1109\/IROS.2010.5650789"},{"key":"S0263574719000961_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ITNEC.2017.8284907"},{"key":"S0263574719000961_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206117"},{"key":"S0263574719000961_ref16","article-title":"Real-Time Path Planning Using a Modified A* Algorithm,","author":"Moreira","year":"2009","journal-title":"Proceedings of ROBOTICA 2009-9th Conference on Mobile Robots and Competitions"},{"key":"S0263574719000961_ref14","unstructured":"14. 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Santos, L. , dos Santos, F. N. , Mendes, J. , Ferraz, N. , Lima, J. , Morais, R. and Costa, P. , \u201cPath Planning for Automatic Recharging System for Steep-Slope Vineyard Robots,\u201d Iberian Robotics Conference (Springer, Cham, 2017) (pp. 261\u2013272).","DOI":"10.1007\/978-3-319-70833-1_22"},{"key":"S0263574719000961_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICARSC.2015.21"},{"key":"S0263574719000961_ref11","doi-asserted-by":"crossref","unstructured":"11. Gajjar, S. , Bhadani, J. , Dutta, P. and Rastogi, N. , \u201cComplete Coverage Path Planning Algorithm for Known 2D Environment,\u201d 2017 2nd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT), Bengaluru, India (IEEE, 2017) pp. 963\u2013967.","DOI":"10.1109\/RTEICT.2017.8256741"},{"key":"S0263574719000961_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0770-8"},{"key":"S0263574719000961_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/CBSEC.2012.18"},{"key":"S0263574719000961_ref22","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21501"},{"key":"S0263574719000961_ref8","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2017.8028409"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574719000961","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,2,28]],"date-time":"2020-02-28T08:24:55Z","timestamp":1582878295000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574719000961\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,18]]},"references-count":22,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["S0263574719000961"],"URL":"https:\/\/doi.org\/10.1017\/s0263574719000961","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,18]]}}}