Related papers: Traversability-aware Adaptive Optimization for Pat…
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…
Traversability illustrates the difficulty of driving through a specific region and encompasses the suitability of the terrain for traverse based on its physical properties, such as slope and roughness, surface condition, etc. In this survey…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Most traversability estimation techniques divide off-road terrain into traversable (e.g., pavement, gravel, and grass) and non-traversable (e.g., boulders, vegetation, and ditches) regions and then inform subsequent planners to produce…
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…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…
Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to create informative labels to learn a model in a supervised…
We present a method that uses high-resolution topography data of rough terrain, and ground vehicle simulation, to predict traversability. Traversability is expressed as three independent measures: the ability to traverse the terrain at a…
Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…
Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampling-based planners such as MPPI to generate short-term…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…
Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…