3 papers
cs.RO2021
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…
cs.RO2021
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…
cs.RO2019
Fast Local Planning and Mapping in Unknown Off-Road Terrain
Timothy Overbye, Srikanth Saripalli
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradien…