5 papers
Traversability-Aware Cooperative Path Planning for Human-UGV Casualty Evacuation
Kristian Dalland, Prithvi Poddar, Souma Chowdhury +2
Heterogeneous multi-robot path planning is a well-studied problem in which agents with disparate kinematic and dynamic models must coordinate to achieve shared objectives. These fo…
HOPHY: A Hierarchical Hypergraph Representation for Off-Road Path and Mission Planning
Pranay Meshram, Charuvahan Adhivarahan, Prithvi Poddar +4
Mission-level autonomy for disaster response, search and rescue, and tactical UGV operations requires repeated path and mission planning as terrain conditions, agent types, and obj…
Learning When to Jump for Off-road Navigation
Zhipeng Zhao, Taimeng Fu, Shaoshu Su +5
Low speed does not always guarantee safety in off-road driving. For instance, crossing a ditch may be risky at a low speed due to the risk of getting stuck, yet safe at a higher sp…
CLEAR: A Semantic-Geometric Terrain Abstraction for Large-Scale Unstructured Environments
Pranay Meshram, Charuvahan Adhivarahan, Ehsan Tarkesh Esfahani +3
Long-horizon navigation in unstructured environments demands terrain abstractions that scale to tens of square kilometers while preserving semantic and geometric structure. Grids s…
You Only Crash Once v2: Perceptually Consistent Strong Features for One-Stage Domain Adaptive Detection of Space Terrain
Timothy Chase, Christopher Wilson, Karthik Dantu
The in-situ detection of planetary, lunar, and small-body surface terrain is crucial for autonomous spacecraft applications, where learning-based computer vision methods are increa…