RAMP: A Risk-Aware Mapping and Planning Pipeline for Fast Off-Road Ground Robot Navigation
Lakshay Sharma,Michael Everett,Donggun Lee,Xiaoyi Cai,Philip Osteen,Jonathan P. How,Lakshay Sharma,Michael Everett,Donggun Lee,Xiaoyi Cai,Philip Osteen,Jonathan P. How
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning. However, the prevalent approach of generating 2D occupancy grids through raytracing makes the generated map unsafe to plan in, due to inaccurate representation of u...
