Autonomous control of reconfigurable robots is crucial for their deployment in diverse environments. However, its development hampered by the diversity hardware and task constraints. We advocate use artificial intelligence-based approaches to improve scalability different conditions portability platforms comparable traversability skills. In particular, we succeed tackling problem staircase trav...

In this paper, we investigate the use of overhead high-resolution three-dimensional (3-D) data for enhancing the performances of an Unmanned Ground Vehicle (UGV) in vegetated terrains. Data were collected using an airborne laser and provided prior to the robot mission. Through extensive and exhaustive field testing, we demonstrate the significance of such data in two areas: robot localization a...

For any graph G, let V (G) and E(G) denote the vertex set and the edge set of G respectively. The Boolean function graph B(G, L(G),NINC) of G is a graph with vertex set V (G) ∪ E(G) and two vertices in B(G, L(G),NINC) are adjacent if and only if they correspond to two adjacent vertices of G, two adjacent edges of G or to a vertex and an edge not incident to it in G. For brevity, this graph is d...

In this paper, we investigate the use of high resolution aerial LADAR data for autonomous mobile robot navigation in natural environments. The use of prior maps from aerial LADAR (LAser Detection And Ranging) survey is considered for enhancing system performance in two areas. First, the prior maps are used for registration with the data from the robot in order to compute accurate localization i...

This paper presents a novel two-step autonomous navigation method for search and rescue robot. The algorithm based on the vision is proposed for terrain identification to give a prediction of the safest path with the support vector regression machine (SVRM) trained off-line with the texture feature and color features. And correction algorithm of the prediction based the vibration information is...

Planetary rovers are becoming indispensable for exploration activities and science missions. The rover used in such mission is often limited its operation time owing to power computational resources of the rover. In this paper, a trajectory planning method planetary proposed that considers vehicle dynamics, energy management dynamics approximated from dynamic simulation rover, which can estimat...

A bstract We consider a class of pure black hole microstates and demonstrate that they can be made escapable by turning on certain double trace deformations in the CFT. These are dual to BCFT states prepared via Euclidean path integral starting from boundary time. holes bulk with an End-of-the-World brane; codimension one timelike spacetime behind horizon. show tuning sign coupling operator con...

The use of RGB-Depth (RGB-D) sensors for assisting visually impaired people (VIP) has been widely reported as they offer portability, function-diversity and cost-effectiveness. However, polarization cues to assist traversability awareness without precautions against stepping into water areas are weak. In this paper, a polarized RGB-Depth (pRGB-D) framework is proposed to detect traversable area...