Abstract:As robots are deployed to dynamic, uncertain environments, their ability to discern key aspects of their environment and recover from errors becomes paramount. In particular, tip-over events can potentially end or substantially disrupt mission performance and jeopardize asset recovery. To facilitate recovery from tip-over events (i.e. self-righting), the robot should be able to discern the ground angle on which it lies even when it is not in its preferred upright orientation. In this paper, we present a method… Show more
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