15 papers · ranked by Valyu relevance
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…
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…
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…
Atas, Fetullah, Cielniak, Grzegorz + 2 more
- A Novel Traversibility Estimation Neural Network: Our proposed deep neural network is specially designed to process raw LIDAR and IMU data, enabling continuous traversability assessments with spatiotemporal point cloud maps. This approach showcases our network's ability to adapt to complex environments without…
Hyungae Lim, Minho Oh, Seungjae Lee, Seunguk Ahn + 1 more
— With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentation and traversability estimation play important roles in perception and path planning, respectively. Even though these two techniques…
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…
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…
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…
Vickie L. DeNicola, Stefano Mezzini, Francesca Cagnacci, Christen H. Fleming
Estimates of speed and distance traveled are routine in ecological research to provide a link between behavior and energetics. Conventional straight-line displacement (SLD) methods return severely and differentially biased estimates with no ability to evaluate the accuracy of the estimate. Recent methodological…
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…