Abstract:This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicleterrain interactions caused by different terrain conditions on top of 3D terrain topology. The existing works are limited to adopt overly simplified vehicle-terrain models. The proposed algorithm learns the terrain-induced uncertainties from driving data and encodes the learned uncertainty distribution into the traversability cost for path… Show more
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