DRIVE Through the Unpredictability:From a Protocol Investigating Slip to a Metric Estimating Command Uncertainty
Abstract
Off-road autonomous navigation is a challenging task as it is mainly dependent on the accuracy of the motion model. Motion model performances are limited by their ability to predict the interaction between the terrain and the UGV, which an onboard sensor can not directly measure. In this work, we propose using the DRIVE protocol to standardize the collection of data for system identification and characterization of the slip state space. We validated this protocol by acquiring a dataset with two platforms (from 75 kg to 470 kg) on six terrains (i.e., asphalt, grass, gravel, ice, mud, sand) for a total of 4.9 hours and 14.7 km. Using this data, we evaluate the DRIVE protocol's ability to explore the velocity command space and identify the reachable velocities for terrain-robot interactions. We investigated the transfer function between the command velocity space and the resulting steady-state slip for an SSMR. An unpredictability metric is proposed to estimate command uncertainty and help assess risk likelihood and severity in deployment. Finally, we share our lessons learned on running system identification on large UGV to help the community.
Cite
@article{arxiv.2506.16593,
title = {DRIVE Through the Unpredictability:From a Protocol Investigating Slip to a Metric Estimating Command Uncertainty},
author = {Nicolas Samson and William Larrivée-Hardy and William Dubois and Élie Roy-Brouard and Edith Brotherton and Dominic Baril and Julien Lépine and François Pomerleau},
journal= {arXiv preprint arXiv:2506.16593},
year = {2025}
}
Comments
This version is the preprint of a journal article with the same title, accepted in the IEEE Transactions on Field Robotics. To have a look at the early access version, use the following link https://ieeexplore.ieee.org/document/11037776