{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T00:18:58Z","timestamp":1773706738187,"version":"3.50.1"},"reference-count":31,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2007,7,1]],"date-time":"2007-07-01T00:00:00Z","timestamp":1183248000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,7]]},"abstract":"<jats:p> In this paper, an algorithm for autonomous stair climbing with a tracked vehicle is presented. The proposed method achieves robust performance under real-world conditions, without assuming prior knowledge of the stair geometry, the dynamics of the vehicle's interaction with the stair surface, or lighting conditions. The approach relies on fast and accurate estimation of the robot's heading and its position relative to the stair boundaries. An extended Kalman filter is used for quaternion-based attitude estimation, fusing rotational velocity measurements from a 3-axial gyroscope, and measurements of the stair edges acquired with an onboard camera. A two-tiered controller, comprised of a centering- and a heading-control module, utilizes the estimates to guide the robot rapidly, safely, and accurately upstairs. Both the theoretical analysis and implementation of the algorithm are presented in detail, and extensive experimental results demonstrating the algorithm's performance are described. <\/jats:p>","DOI":"10.1177\/0278364907080423","type":"journal-article","created":{"date-parts":[[2007,6,19]],"date-time":"2007-06-19T09:08:03Z","timestamp":1182244083000},"page":"737-758","source":"Crossref","is-referenced-by-count":93,"title":["Autonomous Stair Climbing for Tracked Vehicles"],"prefix":"10.1177","volume":"26","author":[{"given":"Anastasios I.","family":"Mourikis","sequence":"first","affiliation":[{"name":"University of Minnesota Department of Computer Science and Engineering Minneapolis, MN, @cs.umn.edu"}]},{"given":"Nikolas","family":"Trawny","sequence":"additional","affiliation":[{"name":"University of Minnesota Department of Computer Science and Engineering Minneapolis, MN, @cs.umn.edu"}]},{"given":"Stergios I.","family":"Roumeliotis","sequence":"additional","affiliation":[{"name":"University of Minnesota Department of Computer Science and Engineering Minneapolis, MN, @cs.umn.edu"}]},{"given":"Daniel M.","family":"Helmick","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory California Institute of Technology Pasadena, CA,"}]},{"given":"Larry","family":"Matthies","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory California Institute of Technology Pasadena, CA,"}]}],"member":"179","published-online":{"date-parts":[[2007,7,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of IEEE\/ASME International Conference on Advanced Intelligent Mechatronics","author":"Albert, A."},{"key":"atypb2","volume-title":"Theory of Land Locomotion: The Mechanics of Vehicle Mobility","author":"Bekker, M.G.","year":"1956"},{"key":"atypb3","volume-title":"Quaternions \u2014 Proposed Standard Conventions","author":"Breckenridge, W.G.","year":"1999","edition":"2"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1986.4767851"},{"key":"atypb5","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig, J.J.","year":"2005","edition":"3"},{"key":"atypb6","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA)","author":"Figliolini, G."},{"key":"atypb7","volume-title":"Digital Control of Dynamic Systems","author":"Franklin, G.F.","year":"1997"},{"key":"atypb8","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Gutmann, J.-S."},{"key":"atypb9","volume-title":"5th International Conference of the International Society for Terrain-Vehicle Systems","author":"Hayashi, I."},{"key":"atypb10","volume-title":"Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)","author":"Heikkila, J."},{"key":"atypb11","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Helmick, D.M."},{"key":"atypb12","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA)","author":"Hirai, K."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2003.816875"},{"key":"atypb14","volume-title":"Dynamics modeling for attitude determination","author":"Lefferts, E.J.","year":"1976"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.2514\/3.56190"},{"key":"atypb16","volume-title":"Proceedings of IEEE International Workshop on Safety, Security and Rescue Robotics","author":"Liu, J."},{"key":"atypb17","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA)","author":"Martens, J.D."},{"key":"atypb18","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Matsumoto, O."},{"key":"atypb19","volume-title":"Stochastic Models, Estimation and Control","author":"Maybeck, P.S.","year":"1979"},{"key":"atypb20","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA)","author":"Moore, E.Z."},{"key":"atypb21","volume-title":"Packbot Homepage"},{"key":"atypb22","volume-title":"ANDROS Remote Vehicle Homepage","author":"RemotecAndros"},{"key":"atypb23","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation (ICRA)","author":"Roumeliotis, S.I."},{"key":"atypb24","volume-title":"Proc. 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