Challenges and solutions for autonomous ground robot scene understanding and navigation in unstructured outdoor environments: A review
The capabilities of autonomous mobile robotic systems have been steadily improving due to
recent advancements in computer science, engineering, and related disciplines such as …
recent advancements in computer science, engineering, and related disciplines such as …
Evora: Deep evidential traversability learning for risk-aware off-road autonomy
Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead
of manually designing costs based on terrain features, existing methods learn terrain …
of manually designing costs based on terrain features, existing methods learn terrain …
Mcuformer: Deploying vision tranformers on microcontrollers with limited memory
Due to the high price and heavy energy consumption of GPUs, deploying deep models on
IoT devices such as microcontrollers makes significant contributions for ecological AI …
IoT devices such as microcontrollers makes significant contributions for ecological AI …
Learning off-road terrain traversability with self-supervisions only
Estimating the traversability of terrain should be reliable and accurate in diverse conditions
for autonomous driving in off-road environments. However, learning-based approaches …
for autonomous driving in off-road environments. However, learning-based approaches …
Terrapn: Unstructured terrain navigation using online self-supervised learning
AJ Sathyamoorthy, K Weerakoon… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
We present TerraPN, a novel method that learns the surface properties (traction, bumpiness,
deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through …
deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through …
Pronav: Proprioceptive traversability estimation for legged robot navigation in outdoor environments
M Elnoor, AJ Sathyamoorthy… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
We propose a novel method, ProNav, which uses proprioceptive signals for traversability
estimation in challenging outdoor terrains for autonomous legged robot navigation. Our …
estimation in challenging outdoor terrains for autonomous legged robot navigation. Our …
Probabilistic traversability model for risk-aware motion planning in off-road environments
A key challenge in off-road navigation is that even visually similar terrains or ones from the
same semantic class may have substantially different traction properties. Existing work …
same semantic class may have substantially different traction properties. Existing work …
Navigable area detection and perception-guided model predictive control for autonomous navigation in narrow waterways
This letter presents an integrated navigation and control strategy for an autonomous surface
vehicle (ASV) to operate in narrow waterways without relying on GPS. The proposed method …
vehicle (ASV) to operate in narrow waterways without relying on GPS. The proposed method …
Strip and asymmetric aggregation network for unstructured terrain segmentation in wild environments
Recent studies have demonstrated the significant importance of two factors: global context
and multi-level semantics, for semantic segmentation models. However, obtaining features …
and multi-level semantics, for semantic segmentation models. However, obtaining features …
Aerial-ground collaborative continuous risk map** for autonomous driving of unmanned ground vehicle in off-road environments
R Wang, K Wang, W Song, M Fu - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
Terrain risk estimation has always been a crucial but challenging task for autonomous
driving of unmanned ground vehicles (UGV) in off-road environments. The map with dense …
driving of unmanned ground vehicles (UGV) in off-road environments. The map with dense …