36 citations · 44 across the 15 of their papers we have counts for
4 papers · 1 filter
RAMP: A Risk-Aware Mapping and Planning Pipeline for Fast Off-Road Ground Robot Navigation
Lakshay Sharma, Michael Everett, Donggun Lee +3
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D infor…
Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments
Xiaoyi Cai, Michael Everett, Lakshay Sharma +2
A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing wo…
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information…
Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map
Xiaoyi Cai, Michael Everett, Jonathan Fink +1
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fal…