Autonomous mobile robots need to adapt their behavior to the terrain over which they drive, and to predict the traversability of the terrain so that they can effectively plan their paths. Such robots usually make use of a set of sensors to investigate the terrain around them and build up an internal representation that enable them to navigate. This paper addresses the question of how to use sen...

This paper presents a rule-based Fuzzy Traversability Index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data. These characteristics include, but are not limited to: slope, roughness, hardness, and discontinuity. The proposed representation of terrain traversability incorporates an intuitiv...

Autonomous robotic systems which aspire to navigate through rough unstructured terrain require the capability to reason about the environmental characteristics of their environment. As a first priority, the robotic systems need to assess the degree of traversability of their immediate environment to ensure their mobility while navigating through these rough environments. This paper presents a n...

This paper presents a new algorithm for planning the time-optimal motion of a robot traveling with limited velocity from a given location to a given destination on a surface in the presence of moving obstacles. Additional constraints such as space variant terrain traversability and fuel economy can be accommodated. A multivalued distance map is defined and applied in computing optimal trajector...

This paper presents an obstacle negotiation method for mobile robot navigation. The proposed method first transforms a local terrain map surrounding the robot’s momentary position into a grid-type traversability map by extracting the slope and roughness of a terrain patch through least-squares plane-fitting. It then evaluates the overall traversal property along each direction. The traversal in...

Autonomous robot navigation with the capability to perceive the surrounding environment of the robot enhances the efficiency and safety of the robot. A technique for terrain classification for traversability assessment of mobile robot navigating in natural terrain by extracting the textural features from visual sensing of terrain data using co-occurrence matrix is presented in this paper. The a...

For the safe and successful navigation of autonomous vehicles in unstructured environments, traversability terrain should vary based on driving capabilities vehicles. Actual experience can be utilized a self-supervised fashion to learn vehicle-specific traversability. However, existing methods for learning are not highly scalable various In this work, we introduce framework traversability, whic...

We generalize the Gao-Jafferis-Wall construction of traversable two-sided wormholes to multi-boundary wormholes. In our construction, we take background spacetime be black holes in AdS$_3$. work hot limit where dual CFT state certain regions locally resembles thermofield double state. Furthermore, these regions, makes causal shadow exponentially small. Based on two features limit, and with thre...

Traversability illustrates the difficulty of driving through a specific region and encompasses suitability terrain for traverse based on its physical properties, such as slope roughness, surface condition, etc. In this survey we highlight merits limitations all major steps in evolution traversability estimation techniques, covering both non-trainable machine-learning methods, leading up to rece...