2025
Risk-Aware Integrated Task and Motion Planning for Versatile Snake Robots Under Localization Failures
Ashkan Jasour, Guglielmo Daddi, Masafumi Endo, Tiago Stegun Vaquero, Michael Paton, Marlin P. Strub +4
ICRA 2025
Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor payload to the ground coupled with a limited field of view.