This letter shows accurate and autonomous creation of free-form trenches using a walking
excavator. We present hardware extensions and modifications for full automation, a …

We propose a novel method for autonomous legged robot navigation in densely vegetated
environments with a variety of pliable/traversable and non-pliable/untraversable vegetation …

Mobile ground robots require perceiving and understanding their surrounding support
surface to move around autonomously and safely. The support surface is commonly …

We propose a novel method, ProNav, which uses proprioceptive signals for traversability
estimation in challenging outdoor terrains for autonomous legged robot navigation. Our …

Excavation is one of the primary projects in the construction industry. Introducing various
technologies for full automation of the excavation can be a solution to improve sensing and …

Wheeled robot navigation has been widely used in urban environments, but navigation in
wild vegetation is still challenging. External sensors (LiDAR, camera etc.) are often used to …

We propose a novel method, ProNav, which uses proprioceptive signals for traversability
estimation in challenging outdoor terrains for autonomous legged robot navigation. Our …

Multi-legged robots are effective at traversing rough terrain. However, terrains that include
collapsible footholds (ie regions that can collapse when stepped on) remain a significant …

We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception
and autonomous navigation. They consist of multiple stacked layers of 2D grid maps each …

This paper concerns online learning of terrain properties combining haptic perception with
exteroceptive sensing to reason about forces needed to pass through terrains that visually …