4 papers
Are We Ready for Planetary Exploration Robots? The TAIL-Plus Dataset for SLAM in Granular Environments
Zirui Wang, Chen Yao, Yangtao Ge +7
So far, planetary surface exploration depends on various mobile robot platforms. The autonomous navigation and decision-making of these mobile robots in complex terrains largely re…
TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments
Chen Yao, Yangtao Ge, Guowei Shi +7
Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals.…
Predict the Rover Mobility over Soft Terrain using Articulated Wheeled Bevameter
Wenyao Zhang, Shipeng Lv, Feng Xue +3
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip an…
Multi-Sensor State Estimation Fusion on Quadruped Robot Locomotion
Chen Yao, Zhenzhong Jia
In this paper, we present a effective state estimation algorithm that combined with various sensors information (Inertial measurement unit, joints encoder, camera and LIDAR)