Related papers: Traversability Aware Autonomous Navigation for Mul…
This thesis enhances the autonomy of the M4 (Multi-Modal Mobility Morphobot) robot, designed for Mars and rescue missions. The research enables the robot to autonomously select its locomotion mode and path in complex terrains. Focusing on…
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…
Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…
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…
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…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…
Traversability estimation is critical for enabling robots to navigate across diverse terrains and environments. While recent self-supervised learning methods achieve promising results, they often fail to capture the characteristics of…
Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Reliable navigation in disaster-response and other unstructured indoor settings requires robots not only to avoid obstacles but also to recognise when those obstacles can be pushed aside. We present an adaptive, LiDAR and odometry-based…
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, traversability estimation for legged robots on rough terrains…
Autonomous robots operating in real environments are often faced with decisions on how best to navigate their surroundings. In this work, we address a particular instance of this problem: how can a robot autonomously decide on the…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
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…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
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…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…