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cs.RO2024
Towards Local Minima-free Robotic Navigation: Model Predictive Path Integral Control via Repulsive Potential Augmentation
Takahiro Fuke, Masafumi Endo, Kohei Honda +1
Model-based control is a crucial component of robotic navigation. However, it often struggles with entrapment in local minima due to its inherent nature as a finite, myopic optimiz…
cs.RO2024★ 2 cited
BenchNav: Simulation Platform for Benchmarking Off-road Navigation Algorithms with Probabilistic Traversability
Masafumi Endo, Kohei Honda, Genya Ishigami
As robotic navigation techniques in perception and planning advance, mobile robots increasingly venture into off-road environments involving complex traversability. However, select…