Multi-resolution Terrain Model (MTM), which is widely used for visualizing large terrain, is initially designed as a main-memory method. Such an assumption is no longer valid with the rapidly increasing terrain size, which makes the data exchange between main memory and secondary storage the bottle-neck of multi-resolution terrain visualization. In this paper, a novel multi-resolution access me...

Fretted and chaotic terrains are members of a larger family of lowland terrains on the Martian surface. They have formed in equatorial and midnorthern latitudes, within areas reasonably proximate to the extensive volcanic fields of that region. Both are relatively recent developments. Fretted terrain is characterized by extensive, smooth, lowland plains separated from the old cratered upland by...

We address the problem of gait generation for a six-legged robot walking on irregular terrain and subject to changes in speed and direction commanded by a human driver or by an independent, higher-level decision process.

Most terrain models are created based on a sampling of real-world terrain, and are represented using linearly-interpolated surfaces such as triangulated irregular networks or digital elevation models. The existing methods for the creation of such models and representations of real-world terrain lack a crucial analytical consideration of factors such as the errors introduced during sampling and ...

In remote sensing, many target objects have highly irregular appearance. Especially natural objects — such as clouds, isotherms and curves of terrain elevation — are typically irregular in both shape and structure. This paper explains how irregular natural objects can be modelled and processed efficiently as attribute trees. First, we present a technique for extracting image topology and shape ...

Terrain rendering has always been an expensive task due to large input data models. Hierarchical mul-tiresolution triangulation and level-of-detail rendering algorithms over regular structures of grid digital elevation models have been widely used for interactive terrain visualization. The main drawbacks of these are the large cost of memory storage required and the possible over-sampling of hi...

We describe here the efforts to induce a quadruped robot to walk with medium-walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical and the neural systems by comparing biological concepts with those necessary conditions described in physical terms. PD-controller...

This paper describes an integrated quasi‐ autonomous four‐limbed robot, named Capuchin, which is equipped with appropriate sensing, planning and control capabilities to “free‐climb” vertical terrain. Unlike aid climbing that takes advantage of special tools and/or engineered terrain features, free climbing only relies on friction at the contacts between the climber and the ri...