TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning
Kasun Weerakoon,Adarsh Jagan Sathyamoorthy,Utsav Patel,Dinesh Manocha,Kasun Weerakoon,Adarsh Jagan Sathyamoorthy,Utsav Patel,Dinesh Manocha
We present a novel method for reliable robot navigation in uneven outdoor terrains. Our approach employs a fully-trained Deep Reinforcement Learning (DRL) network that uses elevation maps of the environment, robot pose, and goal as inputs to compute an attention mask of the environment. The attention mask is used to identify reduced stability regions in the elevation map and is computed using chan...
