Robot Adaptation for Generating Consistent Navigational Behaviors over Unstructured Off-Road Terrain
Sriram Siva,
Maggie Wigness,
John G. Rogers
et al.
Abstract:Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation methods cannot always be executed accurately due to setbacks such as wheel slip and reduced tire pressure. To address this problem, we propose a novel approach for consistent behavior generation that enables the ground robot's actual behaviors to more accurately match expecte… Show more
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