Terrains are the main part of an electronic game. To reduce human effort on game development, procedural techniques are used to generate synthetic terrains. However rendering a terrain is not a trivial task. Their rendering techniques must be optimal for gaming. Specially planetary terrains, which must account for precision and scale conversion. Multi-resolution models are best fit to planetary...

We present a unified model-based and data-driven approach for quadrupedal planning control to achieve dynamic locomotion over uneven terrain. utilize on-board proprioceptive exteroceptive feedback map sensory information desired base velocity commands into footstep plans using reinforcement learning (RL) policy. This RL policy is trained in simulation wide range of procedurally generated terrai...

It is necessary for autonomous ground vehicles operating on outdoor terrains to identify and adapt to different terrains in order to improve their mobility and safety. This work presents a classification scheme to identify outdoor terrains and an update rule to reduce the possibility of implementing control modes based on classification inaccuracies. A laser stripe-based structured light sensor...

We study the problem of visibility in polyhedral terrains in the presence of multiple viewpoints. We consider three fundamental visibility structures: the visibility map, the colored visibility map, and the Voronoi visibility map. We study the complexity of each structure for both 1.5D and 2.5D terrains, and provide efficient algorithms to construct them. Our algorithm for the visibility map in...

In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. particular, propose new control pipeline, wherein high-level trajectory modulator shapes end-foot ellipsoidal trajectories, and low-level gait controller regulates torso ankle orientation. The foot-trajectory uses policy regulator PD law. As opposed to neural networ...

Ground penetrating radar (GPR) systems are equipment able to acquire underground images scanning the surface of soil/pavement under investigation. Usually GPR records its own position along scan line using a mechanical odometer, i.e., rolling wheel in contact with ground. Unfortunately, this simple and cheap solution can be not effective on uneven terrains. In article, completely different is p...

We present a radically new method for the management, multi-resolution representation and rendering of large terrain databases. Our method has two main benefits: it provides a Ck representation of terrain, with k depending on the type of base patches; and it supports efficient updates of the database as new data come in. We assume terrain data to come as a collection of regularly sampled overla...