Controllers for the locomotion of legged robots often face challenges regarding their optimization towards different objectives and different terrains. We propose an architecture that uses the information gathered in an exploration phase to adapt to a terrain with unknown characteristics. In the exploration phase virtual simulations are used to optimize the parameters of the controller in diffe...

Triangulated surfaces are often used to represent terrains in Geographic Information Systems (GIS); one of the primary computations on terrains is determining drainage networks. Under natural deenitions of the ow of water on a terrain represented by n triangles, we show that the river network has (n 3) worst-case complexity, where complexity is measured in the number of line segments that make ...

In this paper we present methods to generate terrain models for mountainous regions. For these regions analytical and statistical methods are unsuitable for predicting service coverage probability, call blocking and termination probabilities. Modeled terrains are used to simulate environmental conditions in integrated mobile terrestrial and satellite communications systems. A coverage analysis ...

A polyhedral terrain is the graph of a continuous piecewise linear function defined over the triangles of a triangulation in the xy-plane. Two points on or above a terrain are visible to each other if the line-of-sight does not intersect the space below the terrain. In this paper, we look at three related visibility problems in terrains. Suppose we are given a terrain T with n triangles and two...

Many interesting application problems on terrains involve visibility computations; for example, the search for optimal locations of observation points, line-of-sight communication problems, and the computation of hidden or scenic paths. The solution of such problems needs techniques to answer visibility queries on a terrain eeciently, and/or the development of data structures encoding the visib...