6 accepted papers
Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot climbing a cluttered staircase can misinterpret clutter as a s
Future ground logistics missions will require multiple robots to travel in a convoy between locations. As each location may require a different number of robots (e.g. resupply vehicles), these missions will require a mutable convoy formation structure that may be divided to meet operational needs at
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient coverage of unknown environments. During online operation, CAP
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often designed kinematically by a chronological sequence of continuous b
This work proposes a method of footstep placement that controls system energy to enable a dynamically-safe walking behavior. Contrasting many other works that treat rough terrain as a series of disturbances that need to be mitigated with control, we provide some insight into how energy-targeted foot
Limbless locomotion, evidenced by both biological and robotic snakes, capitalizes on these systems' redundant degrees of freedom to negotiate complicated environments. While the versatility of locomotion methods provided by a snake-like form is of great advantage, the difficulties in both representi…