Publications (7)
Radar-Only Off-Road Local Navigation
Timothy Overbye, Srikanth Saripalli
Off-road robotics have traditionally utilized lidar for local navigation due to its accuracy and high resolution. However, the limitations of lidar, such as reduced performance in…
Trailblazer: Learning offroad costmaps for long range planning
Kasi Viswanath, Felix Sanchez, Timothy Overbye +2
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, ex…
GO: The Great Outdoors Multimodal Dataset
Peng Jiang, Kasi Viswanath, Akhil Nagariya +8
The Great Outdoors (GO) dataset is a multi-modal annotated data resource aimed at advancing ground robotics research in unstructured environments. Existing off-road datasets often…
Pushing Radar Odometry Beyond the Pavement: Current Capabilities and Challenges
Shaunak Kolhe, Peng Jiang, Maggie Wigness +4
Radar offers unique advantages for localization in unstructured environments, including robustness to weather, lighting, and airborne particulates. While most prior work has studie…
G-VOM: A GPU Accelerated Voxel Off-Road Mapping System
Timothy Overbye, Srikanth Saripalli
We present a local 3D voxel mapping framework for off-road path planning and navigation. Our method provides both hard and soft positive obstacle detection, negative obstacle detec…
Path Optimization for Ground Vehicles in Off-Road Terrain
Timothy Overbye, Srikanth Saripalli
We present a method for path optimization for ground vehicles in off-road environments at high speeds. This path optimization considers the kinematic constraints of the vehicle. By…