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cs.RO2022
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain
Stepan Dergachev, Kirill Muravyev, Konstantin Yakovlev
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path pla…
cs.MA2022
Towards A Complete Multi-Agent Pathfinding Algorithm For Large Agents
Stepan Dergachev, Konstantin Yakovlev
Multi-agent pathfinding (MAPF) is a challenging problem which is hard to solve optimally even when simplifying assumptions are adopted, e.g. planar graphs (typically -- grids), dis…