5 papers
Inertial Steering and Motion Prediction of Tracked Vehicles on Low-Adherence Surfaces
Mathis Turgeon-Roy, Mohamed Ounally, Veronica Vannini +2
Tracked vehicles are widely used in off-road applications, but their conventional motion models often rely on no-slip assumptions that become inaccurate on low-adherence surfaces.…
Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots
Mohamed Dhia Ounally, Nicolas Samson, Mathis Turgeon-Roy +3
Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle motion when contact points undergo slip. For articulated vehicles, t…
One year in a forest: Analyzing the challenges of autonomous navigation in subarctic environments
Matěj Boxan, Nicolas Lauzon, Veronica Vannini +2
Subarctic regions have the potential to see increased deployment of autonomous robots in applications including forestry, mining, and environmental monitoring. In these conditions,…
Stretch-ICP: A Continuous-Trajectory Registration and Deskewing Algorithm in Scenarios of Aggressive Motions
Simon-Pierre Deschênes, Veronica Vannini, Philippe Giguère +1
Robust robotic autonomy remains challenging in complex environments, where loss of stability on uneven or slippery terrain can induce extreme accelerations and angular velocities.…
ASAP-MO:Advanced Situational Awareness and Perception for Mission-critical Operations
Veronica Vannini, William Dubois, Olivier Gamache +5
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communicatio…