The problem of autonomous navigation of a ground vehicle in unstructured environments is
both challenging and crucial for the deployment of this type of vehicle in real-world …

Natural environments such as forests and grasslands are challenging for robotic navigation
because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this …

Producing dense and accurate traversability maps is crucial for autonomous off-road
navigation. In this paper, we focus on the problem of classifying terrains into 4 cost classes …

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 …

Effective use of camera-based vision systems is essential for robust performance in
autonomous off-road driving, particularly in the high-speed regime. Despite success in …

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 …

We present TerraPN, a novel method that learns the surface properties (traction, bumpiness,
deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through …

We propose a novel method, ProNav, which uses proprioceptive signals for traversability
estimation in challenging outdoor terrains for autonomous legged robot navigation. Our …

In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on
terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance …

Autonomous navigation at high speeds in off-road environments necessitates robots to
comprehensively understand their surroundings using onboard sensing only. The extreme …