Planetary exploration robots encounter challenging terrain during operation. Vision-based
approaches have failed to reliably predict soil characteristics in the past, making it necessary …

For the safe and successful navigation of autonomous vehicles in unstructured
environments, the traversability of terrain should vary based on the driving capabilities of the …

This article focuses on vision-based planning strategies for legged robots that separate
locomotion planning into foothold selection and pose adaptation. Current pose adaptation …

Terrain awareness, ie, the ability to identify and distinguish different types of terrain, is a
critical ability that robots must have to succeed at autonomous off-road navigation. Current …

Navigation on challenging terrain topographies requires the understanding of robots'
locomotion capabilities to produce optimal solutions. We present an integrated framework …

The semantics of the environment, such as the terrain type and property, reveals important
information for legged robots to adjust their behaviors. In this work, we present a framework …

Physical characteristics of terrains, such as softness and friction, provide essential
information for legged robots to avoid non-geometric obstacles, like mires and slippery …

This article provides a detailed analysis of the assessment of unmanned ground vehicle
terrain traversability. The analysis is categorized into terrain classification, terrain mapping …

Navigating off-road with a fast autonomous vehicle depends on a robust perception system
that differentiates traversable from non-traversable terrain. Typically, this depends on a …

Road detection or traversability analysis has been a key technique for a mobile robot to
traverse complex off-road scenes. The problem has been mainly formulated in early works …