22 papers · ranked by Valyu relevance
Miloš Prágr, Jan Bayer, Jan Faigl
In this study, we address generalized autonomous mobile robot exploration of unknown environments where a robotic agent learns a traversability model and builds a spatial model of the environment. The agent can benefit from the model learned online in distinguishing what terrains are easy to traverse and which should…
Mohamed Benrabah, Charifou Orou Mousse, Elie Randriamiarintsoa, Roland Chapuis + 3 more
'Roland Chapuis' 'Romuald Aufrère' 'Ryan Wen Liu' 'Fenghua Zhu'] Evaluating the risk associated with operations is an essential element of safe planning and an essential prerequisite in mobile robotics. This issue is very broad, with numerous definitions emerging in the recent literature adapting different application…
R. Omar Chavéz-García, Jérôme Guzzi, Luca Maria Gambardella, Alessandro Giusti
'Alessandro Giusti'] Abstract— 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 convolutional neural network that, given an…
Erik Wallin, Viktor Wiberg, Folke Vesterlund, Johan Holmgren + 2 more
'Henrik Persson' 'Martin Servin'] 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 target speed, energy consumption, and…
Mateus V. Gasparino, Arun N. Sivakumar, Yixiao Liu, Andrés Eduardo Baquero Velasquez + 4 more
'Andrés Eduardo Baquero Velasquez' 'Vitor Akihiro Hisano Higuti' 'John G. Rogers' 'Huy Tran' 'Girish Chowdhary'] Abstract— We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed Way-FAST (Waypoint Free…
Christos Sevastopoulos, Stations Konstantopoulos
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 we highlight the merits and limitations of all the major steps in the evolution…
Kai Zhang, Yi Yang, Mengyin Fu, Meiling Wang
This paper presents a traversability assessment method and a trajectory planning method. They are key features for the navigation of an unmanned ground vehicle (UGV) in a non-planar environment. In this work, a 3D light detection and ranging (LiDAR) sensor is used to obtain the geometric information about a rough…
Garen Haddeler, Meng Yee (Michael) Chuah, Yangwei You, Jianle Chan + 3 more
'Albertus H. Adiwahono' 'Wei Yun Yau' 'Chee-Meng Chew'] 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 framework integrates…
Mauro Jaskelioff, Ondřej Rypáček
Traversals of data structures are ubiquitous in programming. Consequently, it is important to be able to characterise those structures that are traversable and understand their algebraic properties. Traversable functors have been characterised by McBride and Paterson as those equipped with a distributive law over…
Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola, Ricardo V. Godoy + 1 more
Estimating traversability in unstructured environments requires conditioning on robot embodiment, as the same terrain can be traversable for one platform and unsafe for another. Existing methods often transfer predictions across morphologies through late-stage trajectory filtering rather than encoding platform…
Michael J. Miles, Harel Biggie, Christoffer Heckman
Navigation over torturous terrain such as those in natural subterranean environments presents a significant challenge to field robots. The diversity of hazards, from large boulders to muddy or even partially submerged Earth, eludes complete definition. The challenge is amplified if the presence and nature of these…
Yuya Onozuka, Ryosuke Matsumi, Motoki Shino
Detection of traversable areas is essential to navigation of autonomous personal mobility systems in unknown pedestrian environments. However, traffic rules may recommend or require driving in specified areas, such as sidewalks, in environments where roadways and sidewalks coexist. Therefore, it is necessary for such…
Danko Nikolić
The mind is a biological phenomenon. Thus, biological principles of organization should also be the principles underlying mental operations. Practopoiesis states that the key for achieving intelligence through adaptation is an arrangement in which mechanisms laying a lower level of organization, by their operations and…
Samantha J. Green, Bryan J. Boruff, Cyril C. Grueter
Recent improvements in tracking technologies have resulted in a growing number of fine-scale animal movement studies in a variety of fields from wildlife management to animal cognition. Most studies assume that an animal’s “optimal” foraging route is linear, ignoring the role the energy landscape can play in…
Nate J. Cira, Morgan L. Paull, Shayandev Sinha, Fabio Zanini + 2 more
Network models are widely applied to describe connectivity and flow in diverse systems. In contrast, the fact that many connected systems move through space as the result of dynamic restructuring has received little attention. Therefore, we introduce the concept of ‘traveling networks’, and we analyze a tree-based…
Authors not listed
A framework for catalysis based on categorical aperture selection rather than temporal acceleration is presented. Traditional catalysis theory describes catalysts as agents that accelerate reactions by lowering activation energies, implicitly treating time as the fundamental variable and reaction rate enhancement as…
Eva-Maria Griesbauer, Pablo Fernandez Velasco, Antoine Coutrot, Jan M. Wiener + 4 more
Humans show an impressive ability to plan over complex situations and environments. A classic approach to explaining such planning has been tree-search algorithms which search through alternative state sequences for the most efficient path through states. However, this approach fails when the number of states is large…
Jasmin L. Walter, Lucas Essmann, Sabine U. König, Peter König
Vision provides the most important sensory information for spatial navigation. Recent technical advances allow new options to conduct more naturalistic experiments in virtual reality (VR) while additionally gather data of the viewing behavior with eye tracking investigations. Here, we propose a method that allows to…
Michael Hutcheon, Andrew Teale
Algorithms are presented for performing a topological analysis of an arbitrary function, evaluated on an arbitrary grid of points. These algorithms work strictly by post-processing the data and require no additional function evaluations. This is achieved by connecting the grid points with a neighbourhood graph…
Wayne M. Getz
Comparative applications of animal movement path analyses are hampered by the lack of a comprehensive framework for linking structures and processes conceived at different spatio-temporal scales. Although many analyses begin by generating step-length (SL) and turning-angle (TA) distributions from relocation time-series…
Mehmet Aziz Yirik, Maria Sorokina, Christoph Steinbeck
The generation of constitutional isomer chemical spaces has been a subject of cheminformatics since the early 1960s, with applications in structure elucidation and elsewhere. In order to perform such a generation efficiently, exhaustively and isomorphism-free, the structure generator needs to ensure the building of…
Authors not listed
Genetic Algorithms are a powerful method to solve optimization problems with complex cost functions over vast search spaces that rely in particular on recombining parts of previous solutions. Crossover operators play a crucial role in this context. Here, we describe a large class of these operators designed for…