[HTML][HTML] Path planning for autonomous mobile robots: A review
JR Sanchez-Ibanez, CJ Pérez-del-Pulgar… - Sensors, 2021 - mdpi.com
Providing mobile robots with autonomous capabilities is advantageous. It allows one to
dispense with the intervention of human operators, which may prove beneficial in economic …
dispense with the intervention of human operators, which may prove beneficial in economic …
Into the robotic depths: analysis and insights from the DARPA subterranean challenge
The Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge
represented a multiyear (2018–2021), competition-based initiative to inspire and shape the …
represented a multiyear (2018–2021), competition-based initiative to inspire and shape the …
[PDF][PDF] Cerberus: Autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the darpa subterranean challenge
Autonomous exploration of subterranean environments constitutes a major frontier for
robotic systems as underground settings present key challenges that can render robot …
robotic systems as underground settings present key challenges that can render robot …
Elevation mapping for locomotion and navigation using gpu
Perceiving the surrounding environment is crucial for autonomous mobile robots. An
elevation map provides a memory-efficient and simple yet powerful geometric represen …
elevation map provides a memory-efficient and simple yet powerful geometric represen …
[HTML][HTML] Robotic exploration of an unknown nuclear environment using radiation informed autonomous navigation
This paper describes a novel autonomous ground vehicle that is designed for exploring
unknown environments which contain sources of ionising radiation, such as might be found …
unknown environments which contain sources of ionising radiation, such as might be found …
An efficient locally reactive controller for safe navigation in visual teach and repeat missions
M Mattamala, N Chebrolu… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their
environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often …
environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often …
NeBula: TEAM CoSTAR's robotic autonomy solution that won phase II of DARPA subterranean challenge
This paper presents and discusses algorithms, hardware, and software architecture
developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots) …
developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots) …
Flexible supervised autonomy for exploration in subterranean environments
While the capabilities of autonomous systems have been steadily improving in recent years,
these systems still struggle to rapidly explore previously unknown environments without the …
these systems still struggle to rapidly explore previously unknown environments without the …
[HTML][HTML] DEM-AIA: Asymmetric inclination-aware trajectory planner for off-road vehicles with digital elevation models
M Toscano-Moreno, A Mandow, MA Martínez… - … Applications of Artificial …, 2023 - Elsevier
Planning safe and effective trajectories for off-road unmanned ground vehicles (UGV) is a
critical Artificial Intelligence (AI) challenge that can benefit from recent advances in digital …
critical Artificial Intelligence (AI) challenge that can benefit from recent advances in digital …
OHM: GPU based occupancy map generation
K Stepanas, J Williams, E Hernández… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
Occupancy grid maps (OGMs) are fundamental to most systems for autonomous robotic
navigation. However, CPU-based implementations struggle to keep up with data rates from …
navigation. However, CPU-based implementations struggle to keep up with data rates from …