19 citations · 21 across the 4 of their papers we have counts for
4 papers · 1 filter
SABER: Learning Attention-based Semantic Affordance for Legged Locomotion
Hari Prasanth Palanivelu, Samuel Sze, Kennard Garrison Johannes +4
Perceptive legged locomotion has advanced rapidly by integrating terrain geometry into learned policies, yet the integration of terrain meaning remains sparse: a pipe, a patch of g…
Multi-Robot Reliable Navigation in Uncertain Topological Environments with Graph Attention Networks
Zhuoyuan Yu, Hongliang Guo, Albertus Hendrawan Adiwahono +4
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the fac…
Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
Garen Haddeler, Hari P. Palanivelu, Yung Chuen Ng +5
Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same phys…
Traversability analysis with vision and terrain probing for safe legged robot navigation
Garen Haddeler, Meng Yee Michael Chuah, Yangwei You +4
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to ad…