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03/02/2023
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Although autonomy has gained widespread usage in structured and controll...
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08/02/2022
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
Navigating off-road with a fast autonomous vehicle depends on a robust p...
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07/30/2022
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Legged robots can traverse a wide variety of terrains, some of which may...
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06/21/2022
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
Semantic object mapping in uncertain, perceptually degraded environments...
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06/05/2022
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
Communication is an important capability for multi-robot exploration bec...
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04/13/2022
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface
Real-world deployment of new technology and capabilities can be daunting...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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03/04/2021
STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation
Although ground robotic autonomy has gained widespread usage in structur...
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02/10/2021
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments
In order for a robot to explore an unknown environment autonomously, it ...
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01/26/2021
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions
We propose a framework for resilient autonomous navigation in perceptual...
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10/19/2020
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
This paper serves as one of the first efforts to enable large-scale and ...
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08/17/2020
Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration
In addition to conventional ground rovers, the Mars 2020 mission will se...
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12/14/2019
Perception-aware Autonomous Mast Motion Planning for Planetary Exploration Rovers
Highly accurate real-time localization is of fundamental importance for ...
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07/31/2018
