Navigation on the Line: Traversability Analysis and Path Planning for Extreme-Terrain Rappelling Rovers
Michael Paton,Marlin P. Strub,Travis Brown,Rebecca J. Greene,Jacob Lizewski,Vandan Patel,Jonathan D. Gammell,Issa A. D. Nesnas,Michael Paton,Marlin P. Strub,Travis Brown,Rebecca J. Greene,Jacob Lizewski,Vandan Patel,Jonathan D. Gammell,Issa A. D. Nesnas
Many areas of scientific interest in planetary exploration, such as lunar pits, icy-moon crevasses, and Martian craters, are inaccessible to current wheeled rovers. Rappelling rovers can safely traverse these steep surfaces, but require techniques to navigate their complex terrain. This dynamic navigation is inherently time-critical and communication constraints (e.g. delays and small communicatio...
