Autonomous navigation at high speeds in off-road environments necessitates robots to
comprehensively understand their surroundings using onboard sensing only. The extreme …

Modeling dynamics is often the first step to making a vehicle autonomous. While on-road
autonomous vehicles have been extensively studied, off-road vehicles pose many …

LiDAR-based localization is valuable for applications like mining surveys and underground
facility maintenance. However, existing methods can struggle when dealing with …

Understanding terrain topology at long-range is crucial for the success of off-road robotic
missions, especially when navigating at high-speeds. LiDAR sensors, which are currently …

Enabling robot autonomy in complex environments for mission critical application requires
robust state estimation. Particularly under conditions where the exteroceptive sensors, which …

Off-road environments pose significant perception challenges for high-speed autonomous
navigation due to unstructured terrain, degraded sensing conditions, and domain-shifts …

Smartphone-based positioning has gained significant popularity due to its widespread
availability. However, its reliance on GNSS as the primary positioning component poses …

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as
well as velocity, which remain viable throughout environments with sub-optimal operating …