Nearly half a century ago, two papers postulated the likelihood of lunar lava tube caves
using mathematical models. Today, armed with an array of orbiting and fly‐by satellites and …

Natural environments such as forests and grasslands are challenging for robotic navigation
because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this …

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 …

This paper proposes an algorithm for motion planning among dynamic agents using
adaptive conformal prediction. We consider a deterministic control system and use trajectory …

Perceiving the surrounding environment is crucial for autonomous mobile robots. An
elevation map provides a memory-efficient and simple yet powerful geometric represen …

Despite the progress in legged robotic locomotion, autonomous navigation in unknown
environments remains an open problem. Ideally, the navigation system utilizes the full …

Understanding the terrain in the upcoming path of a ground robot is one of the most
challenging problems in field robotics. Terrain and traversability analysis is a …

Estimating terrain traversability in off-road environments requires reasoning about complex
interaction dynamics between the robot and these terrains. However, it is challenging to …

Real-time path planning in outdoor environments still challenges modern robotic systems
due to differences in terrain traversability, diverse obstacles, and the necessity for fast …

We consider the problems of exploration and pointgoal navigation in previously unseen
environments, where the spatial complexity of indoor scenes and partial observability …