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cs.RO2025
Safe Gap-based Planning in Dynamic Settings
Max Asselmeier, Abdel Zaro, Dhruv Ahuja +2
This chapter extends the family of perception-informed gap-based local planners to dynamic environments. Existing perception-informed local planners that operate in dynamic environ…
cs.RO2025
QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction
Max Asselmeier, Ye Zhao, Patricio A. Vela
This work proposes QuadPiPS, a perception-informed framework for quadrupedal foothold planning in the perception space. QuadPiPS employs a novel ego-centric local environment repre…