17 papers · ranked by Valyu relevance
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…
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…
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…
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…
Botao He, Amir Hossein Shahidzadeh, Yu Chen, Jiayi Wu + 7 more
— This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions while accurately encoding both geometric and semantic information across diverse environments. We introduce Navigation via Mixture of Experts…
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…
Jonathan Tay Yu Liang, Kanji Tanaka
— The emerging "Floor plan from human trails (PfH)" technique has great potential for improving indoor robot navigation by predicting the traversability of occluded floors. This study presents an innovative approach that replaces first-person-view sensors with a third-person-view monocular camera mounted on the…
Amir Gholami, Alejandro Ramirez-Serrano, Jun Chen, Wen-Chiao Lin
This paper presents a comprehensive approach to evaluating the ability of multi-legged robots to traverse confined and geometrically complex unstructured environments. The proposed approach utilizes advanced point cloud processing techniques integrating voxel-filtered cloud, boundary and mesh generation, and dynamic…
Jhonghyun An, Man Qi, Matteo Dunnhofer
This study proposes a method for detecting and tracking traversable regions in off-road conditions for unmanned ground vehicles (UGVs). Off-road conditions, such as rough terrain or fields, present significant challenges for UGV navigation, and detecting and tracking traversable regions is essential to ensure safe and…
Lorenzo Nardi, Cyrill Stachniss
— 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 the problem of navigating in such environments over extended periods of time…
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…
Jing Huang, Hao Su, Kwok Wai Samuel Au
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find the path with optimal accessible free space along its entire length, which…
Maëlis Kervellec, Thibaut Couturier, Sarah Bauduin, Delphine Chenesseau + 6 more
Connectivity shapes species distribution across fragmented landscapes. Assessing landscape resistance to dispersal is challenging because dispersal events are rare and difficult to detect especially for elusive species. To address these issues, spatial occupancy models have been developed to integrate the resistance…
Andrés G. Mejía Ramón
Current least-cost tools for behavioral scientists are computationally insufficient and lack methods to independently derive animal-specific energetic cost functions based on locational data. Moreover, topologically-valid approaches only measure the biomechanical cost of movement, when sometimes net metababolical…
Mariёlle L. van Toor, Bart Kranstauber, Scott H. Newman, Diann J. Prosser + 5 more
High-resolution animal movement data are becoming increasingly available, yet having a multitude of trajectories alone does not allow us to easily predict animal movement. To answer ecological and evolutionary questions at a population level, quantitative estimates of a species’ potential to act as a link between…
Zitong Jerry Wang, Matt Thomson
Localizing and navigating toward a signal source in noisy environments re-mains a fundamental challenge in robotics. Similarly, cells in tissues must navigate noisy, fragmented molecular gradients, shaped by fluid flow and extracellular matrix interactions. We show that cells can perform source localization using a…
Salim Ghannoum, Kamil Antos, Waldir Leoncio Netto, Alvaro Köhn-Luque + 1 more
Cell migration is a fundamental cell biological process of key importance in health and disease. Advances in imaging techniques have paved the way to monitor cells motility. An ever-growing collection of computational tools to track cells has improved our ability to analyze moving cells. However, few if any tools let…