{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,10,28]],"date-time":"2024-10-28T10:40:32Z","timestamp":1730112032538,"version":"3.28.0"},"reference-count":0,"publisher":"IBERAMIA: Sociedad Iberoamericana de Inteligencia Artificial","issue":"75","license":[{"start":{"date-parts":[[2024,10,19]],"date-time":"2024-10-19T00:00:00Z","timestamp":1729296000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc\/4.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["ia"],"abstract":"<jats:p>In this work, we propose an approach to determine terrain traversability for a car-like robot. Our approach has two main modules: a neural network classifier that makes use of sensors' readings to assign traversability levels to control inputs of the robot, and a second neural network that, based on the outputs of the first network, mimics the control selection performed by a human driver. The approach incorporates sensor fusion from a variety of sources to enhance the traversability estimation, and it is trained employing a semi-supervised learning scheme with examples resulting from the interaction of the car with the environment. This semi-supervised scheme avoids exhausting manual labeling and is built on the premise that there is a correlation between the terrain traversability and the required and observed behaviors of the vehicle. The method is validated with data obtained from a physical electric car.<\/jats:p>","DOI":"10.4114\/intartif.vol28iss75pp1-14","type":"journal-article","created":{"date-parts":[[2024,10,20]],"date-time":"2024-10-20T08:32:26Z","timestamp":1729413146000},"page":"1-14","source":"Crossref","is-referenced-by-count":0,"title":["Learning Terrain Traversability for a Mobile Robot based on Information Fusion"],"prefix":"10.4114","volume":"28","author":[{"given":"Jos\u00e9 Eleazar","family":"Peralta-Lopez","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Emmanuel","family":"Antonio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Israel","family":"Becerra","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alejandro-Israel","family":"Barranco-Gutierrez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rafael","family":"Murrieta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"2598","published-online":{"date-parts":[[2024,10,19]]},"container-title":["Inteligencia Artificial"],"original-title":[],"link":[{"URL":"https:\/\/journal.iberamia.org\/index.php\/intartif\/article\/download\/1553\/233","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journal.iberamia.org\/index.php\/intartif\/article\/download\/1553\/233","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,28]],"date-time":"2024-10-28T09:36:15Z","timestamp":1730108175000},"score":1,"resource":{"primary":{"URL":"https:\/\/journal.iberamia.org\/index.php\/intartif\/article\/view\/1553"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,10,19]]},"references-count":0,"journal-issue":{"issue":"75","published-online":{"date-parts":[[2024,10,19]]}},"URL":"https:\/\/doi.org\/10.4114\/intartif.vol28iss75pp1-14","relation":{},"ISSN":["1988-3064","1137-3601"],"issn-type":[{"type":"electronic","value":"1988-3064"},{"type":"print","value":"1137-3601"}],"subject":[],"published":{"date-parts":[[2024,10,19]]}}}