Efficient and multifidelity terrain modeling for 3D large‐scale and unstructured environments
Sign Up to like & getrecommendations! Published in 2022 at "Journal of Field Robotics"
DOI: 10.1002/rob.22108
Abstract: The vast amount of data captured by robots in large‐scale unstructured environments brings computation and storage problems to terrain modeling methods. Considering the practical terrain geometry structures, we design a large‐scale terrain modeling framework for… read more here.
Keywords: terrain modeling; scale; scale unstructured; large scale ... See more keywords
Forward to the Future: A Deep Learning‐based Approach to Mitigate Control Transmission Delay of Teleoperated Driving in Unstructured Environments
Sign Up to like & getrecommendations! Published in 2025 at "Electronics Letters"
DOI: 10.1049/ell2.70338
Abstract: Teleoperated driving is a leading approach for operating unmanned ground vehicles in unstructured environments, where driving stability is crucial. However, time delays may compromise this stability. In this letter, we propose a computational delay compensation… read more here.
Keywords: deep learning; control transmission; teleoperated driving; delay ... See more keywords
An improved LIO-SAM algorithm by integrating image information for dynamic and unstructured environments
Sign Up to like & getrecommendations! Published in 2024 at "Measurement Science and Technology"
DOI: 10.1088/1361-6501/ad56b1
Abstract: Simultaneous localization and mapping (SLAM) is the process of estimating the trajectory of a mobile sensor carrier and creating a representation of its surroundings. Traditional SLAM algorithms are based on ‘static world assumption’ and simplify… read more here.
Keywords: information; dynamic unstructured; image information; image ... See more keywords
Optimal Trajectory Planning for Autonomous Vehicles in Unstructured Environments
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2024.3510359
Abstract: In this letter, we propose a bi-stage optimal trajectory planning method to address the challenges of planning in unstructured environments. In the first stage, we leverage the incremental sampling method, optimal rapidly-exploring random tree star,… read more here.
Keywords: optimal trajectory; trajectory planning; stage; planning autonomous ... See more keywords
Adaptive Robot Traversability Estimation Based on Self-Supervised Online Continual Learning in Unstructured Environments
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3386451
Abstract: Traversability estimation is a core function for robot navigation in off-road unstructured environments and diverse research results have been published so far. One of the recent approaches is using the self-supervised learning (SSL) technique. SSL… read more here.
Keywords: navigation; robot; traversability estimation; traversability ... See more keywords
PTS-Map: Probabilistic Terrain State Map for Uncertainty-Aware Traversability Mapping in Unstructured Environments
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3519859
Abstract: Traversability mapping for autonomous navigation in unstructured environments has been widely investigated for decades. However, it remains challenging due to the uncertainty in geometry perception and the simplified representation of traversability maps that fail to… read more here.
Keywords: navigation; pts map; traversability; uncertainty ... See more keywords
Fast Optimization-Based Trajectory Planning With Cumulative Key Constraints for Automated Parking in Unstructured Environments
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Vehicular Technology"
DOI: 10.1109/tvt.2025.3555954
Abstract: The optimization problem for trajectory planning becomes intractable as the dimensions of collision avoidance constraints increase. Existing methods either avoid unstructured environments or use simplified constraints that sacrifice a portion of the solution space. To… read more here.
Keywords: trajectory planning; key constraints; planning cumulative; optimization ... See more keywords
Neural network-based 3D point cloud detection of targets in unstructured environments
Sign Up to like & getrecommendations! Published in 2024 at "Advances in Mechanical Engineering"
DOI: 10.1177/16878132241260584
Abstract: Accurate environmental sensing is an important prerequisite for autonomous driving in off-road environments. Most targets in off-road environments do not have regular shapes, colors, textures and other features, making them difficult to identify. In addition,… read more here.
Keywords: targets unstructured; neural network; unstructured environments; point cloud ... See more keywords
Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments
Sign Up to like & getrecommendations! Published in 2019 at "ROBOMECH Journal"
DOI: 10.1186/s40648-019-0134-1
Abstract: This paper proposes a navigation system of a personal mobility robot in informationally structured and unstructured environments. First, we introduce a group of robots named Portable Go, which are equipped with laser range finders, gyros,… read more here.
Keywords: unstructured environments; informationally structured; structured unstructured; navigation ... See more keywords