Temporary obstacles that may block a robot's planned route create a sequential navigation problem: a robot must decide whether to wait for a blockage to clear, reroute, or acquire more information about the obstacle before acting. We formulate graph navigation among temporary obstacles as a partially observable semi-Ma...
Hshmat Sahak, Ao-Ran Jiao, Nicholas Rhinehart et al.· 0 citations
Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustness to adverse weather conditions and 360{\deg} field of view. Recently, scanning radars have also been shown capable of generating per-azimuth Doppler velocity. In this pa...
Er-Ting Xie, Daniil Lisus, T. Barfoot· 0 citations
Terrain assessment is a critical capability for off-road mobile robots, enabling safe and reliable navigation through unstructured and geometrically complex environments. Conventional geometry-based terrain assessment is fast to compute but often overly conservative in unstructured environments. We present PIVOT: a Phy...
Ao-Ran Jiao, Wen-Da Zhao, Hshmat Sahak et al.· 0 citations
Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based systems to fail. Recently, direct methods that retain and use the entire radar scan rather than sparse points have improved on-road global lo...
Alexander Krawciw, Daniil Lisus, Cedric Le Gentil et al.· 0 citations
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