48 citations · 185 across the 16 of their papers we have counts for
4 papers · 1 filter
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation
David D. Fan, Kyohei Otsu, Yuki Kubo +3
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extrem…
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra +4
In order for an autonomous robot to efficiently explore an unknown environment, it must account for uncertainty in sensor measurements, hazard assessment, localization, and motion…
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions
Rohan Thakker, Nikhilesh Alatur, David D. Fan +5
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and…