Alessio De Luca — accepted AI-conference papers

2023

Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees

Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis

RA-L 2023

Performing autonomous navigation in cluttered and unstructured terrains still remains a challenging task for legged and wheeled mobile robots. To accomplish such a task, online planners shall incorporate new terrain information perceived while the robot is moving within its environment. While hybrid

Cited by 17 Source ↗Scholar ↗

2022

A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO

Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis

IROS 2022poster

Wheeled-legged robots have the potential to navigate in cluttered and irregular scenarios by altering the locomotion modes to adapt to the terrain challenges and effectively reach targeted locations in unstructured spaces. To achieve this functionality, a hybrid locomotion planner is necessary. In t…

Cited by 3 Source ↗Scholar ↗