Ayumi Umemura — accepted AI-conference papers

2024

Enabling Faster Locomotion of Planetary Rovers With a Mechanically-Hybrid Suspension

David Rodríguez-Martínez, Kentaro Uno, Kenta Sawa, Masahiro Uda, Gen Kudo, Gustavo Hernan Diaz +3

RA-L 2024

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances. Faster off-road navigation has been explor

Cited by 12 Source ↗Scholar ↗

2024

SDFT: Structural Discrete Fourier Transform for Place Recognition and Traversability Analysis

Ayumi Umemura, Ken Sakurada, Masaki Onishi, Kazuya Yoshida

IROS 2024poster

The ability to associate the current location with previously visited places is an essential aspect of autonomous ground robots. Unstructured environments such as planetary surfaces pose a significant challenge for robots because their terrain is less distinctive. Meanwhile, traversability must be a…

Cited by 1 Source ↗Scholar ↗