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cs.RO2026
VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation
Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1
A vehicle's heading affects both the surfaces beneath its tires and its pitch and roll. We present Vehicle-Conditioned Terrain Planning (VCTP), which retains these relationships by…
cs.RO2026
Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1
Underwater dead reckoning estimates vehicle position when vision is unavailable and external positioning cannot be assumed. A single set of filter parameters can work well in many…
cs.RO2025
Hybrid Terrain-Aware Path Planning: Integrating VD-RRT* Exploration and VD-D* Lite Repair
Akshay Naik, William R. Norris, Dustin Nottage +1
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a c…