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From Simulation to Field: Learning Terrain Traversability for Real-World Deployment
Fetullah Atas, Grzegorz Cielniak, Lars Grimstad
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certai…
Cloud Hopping; Navigating in 3D Uneven Environments via Supervoxels and Control Lyapunov Function
Fetullah Atas, Grzegorz Cielniak, Lars Grimstad
This paper presents a novel feedback motion planning method for mobile robot navigation in 3D uneven terrains. We take advantage of the \textit{supervoxel} representation of point…
Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots
Fetullah Atas, Grzegorz Cielniak, Lars Grimstad
This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method a…
Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot Navigation
Fetullah Atas, Lars Grimstad, Grzegorz Cielniak
Sampling-Based Optimal(SBO) path planning has been mainly used for robotic arm manipulation tasks. Several research works have been carried out in order to evaluate performances of…