Masafumi Endo — accepted AI-conference papers

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.

Cited by 0 Source ↗Scholar ↗

2023

Risk-aware Path Planning via Probabilistic Fusion of Traversability Prediction for Planetary Rovers on Heterogeneous Terrains

Masafumi Endo, Tatsunori Taniai, Ryo Yonetani, Genya Ishigami

ICRA 2023poster

Machine learning (ML) plays a crucial role in assessing traversability for autonomous rover operations on deformable terrains but suffers from inevitable prediction errors. Especially for heterogeneous terrains where the geological features vary from place to place, erroneous traversability predicti…

Cited by 15 Source ↗Scholar ↗

2022

Active Traversability Learning via Risk-Aware Information Gathering for Planetary Exploration Rovers

Masafumi Endo, Genya Ishigami

RA-L 2022

Traversability prediction enables safe and efficient autonomous rover operation on deformable planetary surfaces. Revealing spatial distribution from terrain geometry to rover slip behavior is key to assessing prospective traversability, but is hindered by insufficient in situ measurements on hazard

Cited by 15 Source ↗Scholar ↗