Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
Muhammad Fadhil Ginting,Sung-Kyun Kim,Oriana Peltzer,Joshua Ott,Sunggoo Jung,Mykel J. Kochenderfer,Ali-akbar Agha-mohammadi,Muhammad Fadhil Ginting,Sung-Kyun Kim,Oriana Peltzer,Joshua Ott,Sunggoo Jung,Mykel J. Kochenderfer,Ali-akbar Agha-mohammadi
To achieve autonomy in unknown and unstruc-tured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is cru-cial for safe and efficient robot navigation in environment with mobility-stressing elements that require terrain-specific locomotion policies. We propose the Semantic Belief Graph (SBG), a geometric- and semantic-based representation o...
