5 accepted papers
We investigated the performance of existing semiand fully autonomous methods for controlling flipper-based skid-steer robots. Our study involves the reimplementation of these methods for a fair comparison, and it introduces a novel semi-autonomous control policy that provides a compelling trade-off
While autonomous navigation of mobile robots on rigid terrain is a well-explored problem, navigating on deformable terrain such as tall grass or bushes remains a challenge. To address it, we introduce an explainable, physics-aware and end-to-end differentiable model which predicts the outcome of rob…
This letter presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a nondifferentiable physics simulator of robot–terrain interactions is available. The multimodal state estimation of the robot is also complex and difficult to simulate, so we simult
This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A comparison with several other methods for simulation of tracked vehi…
Policy Gradient methods require many real-world trials. Some of the trials may endanger the robot system and cause its rapid wear. Therefore, a safe or at least gentle-to-wear exploration is a desired property. We incorporate bounds on the probability of unwanted trials into the recent Contextual Re…