EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures.
Rohan ThakkerMichael PatonMarlin P. StrubR. Michael SwanGuglielmo DaddiRob RoyceL. Phillipe TosiMatthew GildnerTiago VaqueroMarcel VeismannPeter V. GavrilovEloise MarteauJoseph BowkettDaniel LoretYashwanth NakkaBenjamin HockmanAndrew OrekhovTristan HasselerCarl LeakeBenjamin NuernbergerPedro ProençaWilliam ReidWilliam TalbotNikola GeorgievTorkom PailevanianAvak ArchanianEric AmbroseJay JasperRachel EtheredgeChristiahn RomanDan LevineKyohei OtsuHovhannes MelikyanJeremy NashRichard RieberKalind C. CarpenterAbhinandan JainLori ShiraishiDaniel PastorSarah YearicksMichel D. InghamMatthew RobinsonAli AghaMatthew J. TraversHowie ChosetJoel BurdickMasahiro OnoPublished in: IROS (2023)
Keyphrases
- rough terrain
- autonomous navigation
- robotic systems
- mobile robot
- autonomous learning
- semi autonomous
- service robots
- legged robots
- walking robot
- path planning
- human robot interaction
- search and rescue
- ground vehicles
- active contours
- autonomous robots
- multi robot
- humanoid robot
- internal representations
- outdoor environments
- autonomous vehicles
- vision system
- quadruped robot
- mobile agents
- obstacle avoidance
- robot behavior
- configuration space
- robot navigation
- three dimensional
- multiresolution
- fault tolerance
- active contour model
- visual servoing
- goal directed
- visual odometry
- digital elevation models
- indoor environments
- motion planning
- segmentation method
- missing data
- cooperative
- root cause
- position and orientation
- real time
- human mobility
- dynamic environments
- robot control
- mobile robotics