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

This paper studies the multi-robot reliable navigation problem in uncertain topological
networks, which aims at maximizing the robot team's on-time arrival probabilities in the face …

We address the problem of robot motion planning under uncertainty where the only
observations are through contact with the environment. Such problems are typically solved …

This article studies the mean standard deviation (mean-std) Canadian traveller problem
(CTP). Different from the canonical CTP, which aims at minimizing the traveller's expected …

This paper studies the reliable navigation problem in stochastic transportation networks with
uncertain topology. The objective is to find a dynamic routing policy, which navigates the …

This thesis addresses the challenge of autonomous navigation in partially known
environments, focusing on mobile robots equipped with limited sensing capabilities. Path …

Many industries are seeking automation to replace human labour, including timber
harvesting in the forestry industry. This thesis presents three algorithms for motion planning …

Autonomous robots in real-world environments face a number of challenges even to
accomplish apparently simple tasks like moving to a given location. We present four realistic …