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cs.RO2025
DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
Seunghyun Lee, I Made Aswin Nahrendra, Dongkyu Lee +3
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or join…
cs.RO2025
TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation
Dongkyu Lee, I Made Aswin Nahrendra, Minho Oh +2
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular…