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Author

Zhiqiao Guo

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Preprint Aug 2026

Robot-Body-Aware Traversal Risk Graph Planning for Wheeled-Legged Robots in Complex Terrain

Traversal Risk Graphs (TRGs) provide a compact, terrain-aware representation for global navigation, but native TRG costs are computed over circular node neighborhoods and edge-aligned terrain regions rather than the robot's oriented body footprint. For wheeled-legged robots, this abstraction can miss partial support lo...

Zhiqiao Guo, Bichi Zhang, Sören Schwertfeger · 1 citation

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