Terrain Adaptive Trajectory Planning and Tracking on Deformable Terrains
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Vehicular Technology"
DOI: 10.1109/tvt.2021.3114088
Abstract: In this work, a novel single-level adaptive trajectory planner and tracking controller is developed for off-road autonomous vehicles operating on deformable terrains. Trajectory planning and tracking algorithms often rely on a simplified vehicle model to… read more here.
Keywords: deformable terrains; terrain; adaptive trajectory; model ... See more keywords
Learning quadrupedal locomotion on deformable terrain
Sign Up to like & getrecommendations! Published in 2023 at "Science Robotics"
DOI: 10.1126/scirobotics.ade2256
Abstract: Simulation-based reinforcement learning approaches are leading the next innovations in legged robot control. However, the resulting control policies are still not applicable on soft and deformable terrains, especially at high speed. The primary reason is… read more here.
Keywords: locomotion; deformable terrains; reinforcement learning; terrain ... See more keywords