Providing mobile robots with autonomous capabilities is advantageous. It allows one to
dispense with the intervention of human operators, which may prove beneficial in economic …

Artificial perception for robots operating in outdoor natural environments, including forest
scenarios, has been the object of a substantial amount of research for decades. Regardless …

This paper serves as one of the first efforts to enable large-scale and long-duration
autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme …

Legged robots have the potential to traverse diverse and rugged terrain. To find a safe and
efficient navigation path and to carefully select individual footholds, it is useful to be able to …

Despite the progress in legged robotic locomotion, autonomous navigation in unknown
environments remains an open problem. Ideally, the navigation system utilizes the full …

Robots that autonomously navigate real-world 3D cluttered environments need to safely
traverse terrain with abrupt changes in surface normals and elevations. In this letter, we …

Estimating terrain traversability in off-road environments requires reasoning about complex
interaction dynamics between the robot and these terrains. However, it is challenging to …

Understanding the terrain in the upcoming path of a ground robot is one of the most
challenging problems in field robotics. Terrain and traversability analysis is a …

Navigation in natural outdoor environments requires a robust and reliable traversability
classification method to handle the plethora of situations a robot can encounter. Binary …

This article considers the 3-D collaborative trajectory optimization (CTO) of multiple
unmanned aerial vehicles to improve multitarget tracking performance with an …