Efficient Sampling-Based Planning for Subterranean Exploration
Shakeeb Ahmad,J. Sean Humbert,Shakeeb Ahmad,J. Sean Humbert
The paper proposes a path planning solution for autonomous robotic exploration of complex subterranean environments. The work contributes to the family of graph-based planners by bringing the following improvements. Firstly, an occupancy grid-based sample-and-project solution to terrain-assessment is proposed instead of building an explicit elevation map of the environment. Secondly, the solution-...
