4 papers · 1 filter
DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments
Takahiro Fuke, Masafumi Endo, Kohei Honda +1
Reactive mobile robot navigation in unstructured environments is challenging when robots encounter unexpected obstacles that invalidate previously planned trajectories. Model predi…
Towards Local Minima-free Robotic Navigation: Model Predictive Path Integral Control via Repulsive Potential Augmentation
Takahiro Fuke, Masafumi Endo, Kohei Honda +1
Model-based control is a crucial component of robotic navigation. However, it often struggles with entrapment in local minima due to its inherent nature as a finite, myopic optimiz…
Deep Probabilistic Traversability with Test-time Adaptation for Uncertainty-aware Planetary Rover Navigation
Masafumi Endo, Tatsunori Taniai, Genya Ishigami
Traversability assessment of deformable terrain is vital for safe rover navigation on planetary surfaces. Machine learning (ML) is a powerful tool for traversability prediction but…
BenchNav: Simulation Platform for Benchmarking Off-road Navigation Algorithms with Probabilistic Traversability
Masafumi Endo, Kohei Honda, Genya Ishigami
As robotic navigation techniques in perception and planning advance, mobile robots increasingly venture into off-road environments involving complex traversability. However, select…