Related papers: Multifractal Terrain Generation for Evaluating Aut…
We develop a powerful yet simple method that generates multifractal fields with fully controlled scaling properties. Adopting the Multifractal Random Walk (MRW) model of Bacry et al. (2001), synthetic multifractal fields are obtained from…
This research addresses critical autonomous vehicle control challenges arising from road roughness variation, which induces course deviations and potential loss of road contact during steering operations. We present a novel real-time road…
In this paper the Modified Fractal Signature method is applied to real Synthetic Aperture Radar images provided to our research group by SET 163 Working Group on SAR radar techniques. This method uses the blanket technique to provide useful…
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…
Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…
Terrain traversability analysis is a fundamental issue to achieve the autonomy of a robot at off-road environments. Geometry-based and appearance-based methods have been studied in decades, while behavior-based methods exploiting learning…
Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…
Fractal dimension (D) is an effective parameter to represent the irregularity and fragmental property of a self-affine surface, which is common in physical vapor deposited thin films. D could be evaluated through the scaling performance of…
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…
The evolution of fractal surface structures with flattening of asperities was investigated using isotropically roughened aluminium surfaces loaded in compression. It was found that asperity amplitude, mean roughness and fractal dimension…
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…
Off-road environments remain significant challenges for autonomous ground vehicles, due to the lack of structured roads and the presence of complex obstacles, such as uneven terrain, vegetation, and occlusions. Traditional perception…
There is a growing interest in new sensing technologies and processing algorithms to increase the level of driving automation towards self-driving vehicles. The challenge for autonomy is especially difficult for the negotiation of uncharted…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
Road extraction in remote sensing images is of great importance for a wide range of applications. Because of the complex background, and high density, most of the existing methods fail to accurately extract a road network that appears…
In this work, we extend the recently proposed adaptive phase field method to model fracture in orthotropic functionally graded materials (FGMs). A recovery type error indicator combined with quadtree decomposition is employed for adaptive…
While legged robots have achieved significant advancements in recent years, ensuring the robustness of their controllers on unstructured terrains remains challenging. It requires generating diverse and challenging unstructured terrains to…
Droplet impact on rough surfaces is of critical importance to various applications, yet remains incompletely understood. The present work aims to uncover droplet impact dynamics on random hydrophobic surfaces using volume of fluid…
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…
Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging…