Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map
Xiaoyi Cai,Michael Everett,Jonathan Fink,Jonathan P. How,Xiaoyi Cai,Michael Everett,Jonathan Fink,Jonathan P. How
Motion planning in off-road environments re-quires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into a finite number of semantic categories that often are not sufficient to capture the ability (i.e., the speed) with which a robot can traverse off-road terrain...
