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Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save…
Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terrain properties directly from data via self-supervision to…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their capability to walk on complex terrains with a variety of…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof variation of vehicle pose and its associated stability cost in…
Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…
When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. However, off-road terrains introduce several challenges to…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass).…