In this paper, we report on experiments with a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues ...

This paper describes the design, implementation, and experimental results of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav). This system was designed to enable greater access to and more robust operations within terrains of widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify surrounding terrain, predict...

In this paper, we present an approach towards mapping and safe navigation in real, large-scale environments with an autonomous car. The goal is to enable the car to autonomously navigate on roads while avoiding obstacles and while simultaneously learning an accurate three-dimensional model of the environment. To achieve these goals, we apply probabilistic state estimation techniques, network-ba...

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that are safe for navigation based on its own percepts about the environment while avoiding damage to itself. Bayesian optimisation (BO) has been successfully appl...

Quadruped robots have garnered significant attention in recent years due to their ability navigate through challenging terrains. Among the various environments, agriculture fields are particularly difficult for legged robots, given variability of soil types and conditions. To address this issue, study proposes a novel navigation strategy that utilizes ground reaction forces calculate online art...

Abstract In this paper we continue the investigation of connection between Casimir energy and traversability a wormhole. addition to negative density obtained by device, include effect an electromagnetic field generated electric charge. This combination defines electrovacuum source which has extra parameter related size throat. Even if is positive, null condition still violated. The main reason...

Abstract A non-singular Emergent Universe (EU) scenario within the realm of standard Relativistic physics requires a generalization Equation State (EoS) connecting pressure and energy density. This generalized EoS is capable describing composition exotic matter, dark cosmological dust matter. Since EU known to violate Null Energy Condition, we investigate possibility presence static, sphericall...