We address the problem of learning to recognize traversable terrain in an unstructured outdoor environment a core functionality for autonomous robot navigation. The traversability learning problem is challenging for two reasons. First, while general-purpose sensing can be used to identify the existence of particular terrain features such as vegetation and sloping ground, the traversability of t...

Traversability in relation with tides across thin-shell wormholes is analyzed. Conditions for a safe travel through wormhole throat are established terms of the parameters characterizing geometries and reasonable assumptions regarding travellers motion. Most convenient turn to include physically interesting example connecting locally flat submanifolds as those associated gauge cosmic strings. A...

Self-driving vehicles and autonomous ground robots require a reliable accurate method to analyze the traversability of surrounding environment for safe navigation. This paper proposes evaluates real-time machine learning-based Traversability Analysis that combines geometric features with appearance-based in hybrid approach based on SVM classifier. In particular, we show integrating new set visu...

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with percepti...

Fuzzy Traversability Index is introduced in this paper as a new and simple measure for quantifying the ease of traversal of natural terrains by field mobile robots. This index provides a simple means for incorporating the terrain quality data into the robot navigation strategy, and is used for terrain-based navigation of field mobile robots. The Traversability Index is expressed b y fuzzy sets ...

In this paper we present two new approaches to planetary rover perception. One approach concerns stereo driving without 3-D reconstruction. This approach begins with weakly calibrated stereo images, and evaluates the traversability of terrain using shape indicators such as relative slope and relative elevation. The approach then evaluates candidate paths based on the traversability analysis and...

To enable real-time autonomous navigation, a mobile robot is equipped with on-board processing power, image-processing algorithms, and a fuzzy computation engine that allow the rover to safely navigate to a designated goal while avoiding obstacles and impassible terrains. The underlying architecture discussed in this paper utilizes real-time measurement of terrain characteristics and a fuzzy lo...

Fringe-Saving A* is an incremental version of A* that repeatedly finds shortest paths from a fixed start cell to a fixed goal cell in a known gridworld in case the traversability of cells changes over time. It restores the content of the OPEN and CLOSED lists of A* at the point in time when an A* search for the current search problem could deviate from the A* search for the previous search prob...

Motion planning for robots operating on 3D rough terrain requires the synergy of various robotic capabilities, from sensing and perception to simulation, planning and prediction. In this paper, we focus on the higher level of this pipeline where by means of physics-based simulation and geometric processing we extract the information that is semantically required for an articulated, tracked robo...