A novel technique for identifying soil parameters on-line while traversing with a tracked vehicle on unknown terrain is presented. This technique, based on the Newton Raphson method is used to identify unknown soil parameters. Comparing with the Least Square method, it shows that the Newton Raphson method is better in terms of prediction accuracy, computational speed, and robustness to initial ...

In many navigational domains the traversability of cells is conditioned on the path taken. This is often the case in videogames, in which a character may need to acquire a certain object (i.e., a key or a flying suit) to be able to traverse specific locations (e.g., doors or high walls). In order for non-player characters to handle such scenarios we present InvJPS, an “inventory-driven” pathfin...

This work reports ondeveloping a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and proprioceptive sensory data. Existing works use robot-agnostic environmental features or handcrafted kinematic features; instead, we propose to also learn robot-specific inertial from data reward approximation in single neural net...

This paper presents technical details of the robot framework that is used by the FKIE team for the participation in the three scenarios Mule, Approach, and Camp Security of the ELROB 2011. Our navigation software used for both, the Mule and the Approach scenario, is based on a local navigation using motion patterns. Additionally, we employ a FastSLAM mapper taking a traversability analysis and ...

In this paper we address the problem of assessing quantitatively the quality of traversability maps computed from data collected by an airborne laser range finder. Such data is used to plan paths for an unmanned ground vehicle (UGV) prior to the execution of long range traverses. Little attention has been devoted to the problem we address in this paper. We use a unique data set of geodetic cont...

In this paper, we outline the strategy used for obstacle avoidance on our small, non-holonomic test vehicle, the Autonomous Tractor. This strategy relies on the fusion of data from a stereo camera, a scanning laser range-finder and the vehicle odometry to create occupancy grids which describe the traversability of the terrain in the current vicinity of the vehicle. Knowledge of the vehicle’s ki...

In this paper, we consider the case of a robot that must find ways in an initially unknown and often complex cross-country environment. Our approach relies on a particular model of the environment, built from 3D data : the environment is represented by a hierarchical polygonal structure, in which terrain classes probabilities are updated as the robot moves. We describe how to define traversabil...