This paper presents a visual navigation algorithm for the six-legged walking robot DLR Crawler in rough terrain. The algorithm is based on stereo images from which depth images are computed using the SemiGlobal Matching (SGM) method. Further, a visual odometry is calculated along with an error measure. Pose estimates are obtained by fusing inertial data with relative leg odometry and visual odo...

Fringe-Saving A* is an incremental version of A* that repeatedly finds shortest paths from a fixed start cell to a fixed goal cell in a known gridworld in case the traversability of cells changes over time. It restores the content of the OPEN and CLOSED lists of A* at the point in time when an A* search for the current search problem could deviate from the A* search for the previous search prob...

Abstract Consider an agent traversing a graph of “gadgets”, where each gadget has local state that changes with traversal by the according to specified rules. Prior work studied computational complexity deciding whether can reach location, problem we call reachability . This paper introduces new goals for agent, aiming characterize when these problems is same or differs from reachability. First...

Planetary rover should be designed so that it can travel on uneven terrains robustly under several limitations such as size, weight, costs, etc. However, it is difficult to get precise or whole terrain information beforehand to check the performance of the designed rover. In this paper, we propose a simulation model of uneven terrains based on fractional Brownian motions (fBm’s) for evaluating ...

Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter. Enabling robots to learn from experience may alleviate bo...

The estimation of terrain characteristics is an important missions of Martian exploration rovers. Since only limited resources and human supervision are available, efficient and autonomous method of estimation are required. In this thesis, an on-line estimation method of two important terrain parameters, cohesion and internal friction angle, is developed. The method uses onboard rover sensors a...

In this paper we study the traversability of a wormhole in context asymptotically safe gravity (ASG) for two different cases, namely, spherical case and pseudospherical case. We carry out an analysis throat with specific choice cutoff function $f=\ensuremath{\xi}R$. Recently, has been performed by Moti Shojai [Phys. Rev. D 104, 066016 (2021)], however authors consider only classical source cons...

We present a self-supervised approach for learning to predict traversable paths wheeled mobile robots that require good traction navigate. Our algorithm, termed WayFAST (Waypoint Free Autonomous Systems Traversability), uses RGB and depth data, along with navigation experience, autonomously generate in outdoor unstructured environments. key inspiration is can be estimated rolling using kinodyna...

This paper presents a new strategy for autonomous navigation of eld mobile robots on hazardous natural terrain using a fuzzy logic approach and a novel measure of terrain traversability. The navigation strategy is comprised of three simple, independent behaviors: seek-goal, traverse-terrain, and avoid-obstacle. The recommendations from these three behaviors are combined through appropriate weig...

This work presents a machine learning method for terrain’s traversability classification. Stereo vision is used to provide the depth map of the scene. Then, a v-disparity image calculation and processing step extracts suitable features about the scene’s characteristics. The resulting data are used as input for the training of a support vector machine (SVM). The evaluation of the traversability ...