5 accepted papers
We propose a method based on a nonlinear transformation for nonrigid alignment of maps of different modalities, exemplified with matching partial and deformed two-dimensional maps to layout maps. For two types of indoor environments, over a dataset of 40 maps, we have compared the method to state-of
This paper discusses the possibilities of extending and adapting the CHOMP motion planner [1] to work with a non-holonomic vehicle such as an autonomous truck with a single trailer. A detailed study has been done to find out the different ways of implementing these constraints on the motion planner.…
This paper presents a robust motion planning methodology for autonomous tracked vehicles navigating in a rough and unknown environment. Two fields of study are dealt with in this paper: motion planning and slip estimation. For the motion planner, the CC-RRT* algorithm is combined with LQG-MP. The mo…
This paper presents an optimal global planner for autonomous tracked vehicles navigating in off-road terrain with uncertain slip, which affects the vehicle as a process noise. This paper incorporates two fields of study: slip estimation and motion planning. For slip estimation, an experimental resul
This paper proposes a method for safe navigation based on representative sample inputs. The representative inputs are chosen in safe input sets based on their distance from forbidden input sets. The inputs are not only the safest decisions with respect to various unmodeled sources of uncertainties,…