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For autonomous quadruped robot navigation in various complex environments, a typical SOTA system is composed of four main modules -- mapper, global planner, local planner, and command-tracking controller -- in a hierarchical manner.
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Lei Tai, Shaohua Li, and Ming Liu · 2016
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Mohak Bhardwaj, Sanjiban Choudhury, and Sebastian Scherer · 2017
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Chelsea Finn and Sergey Levine · 2017
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Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, and Sergey Levine · 2019
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Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter · 2019
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Gabriel Ilharco, Vihan Jain, Alexander Ku, Eugene Ie, and Jason Baldridge · 2019
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Kendall Lowrey, Aravind Rajeswaran, Sham Kakade, Emanuel Todorov, and Igor Mordatch · 2019
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Ahmed H Qureshi, Anthony Simeonov, Mayur J Bency, and Michael C Yip · 2019
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Robust autonomous navigation of a small-scale quadruped robot in real-world environments
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From perception to decision: A data-driven approach to end-to-end motion planning for autonomous ground robots
Mark Pfeiffer, Michael Schaeuble, Juan Nieto, Roland Siegwart, and Cesar Cadena · 2017
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Virtual-to-real deep reinforcement learning: Continuous control of mobile robots for mapless navigation
Lei Tai, Giuseppe Paolo, and Ming Liu · 2017
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Dynamic locomotion through online nonlinear motion optimization for quadrupedal robots
C Dario Bellicoso, Fabian Jenelten, Christian Gehring, and Marco Hutter · 2018
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Accurate and diverse sampling of sequences based on a “best of many” sample objective
Apratim Bhattacharyya, Bernt Schiele, and Mario Fritz · 2018
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Probabilistic terrain mapping for mobile robots with uncertain localization
Péter Fankhauser, Michael Bloesch, and Marco Hutter · 2018
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Per-contact iteration method for solving contact dynamics
Jemin Hwangbo, Joonho Lee, and Marco Hutter · 2018
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Thomas Dudzik, Matthew Chignoli, Gerardo Bledt, Bryan Lim, Adam Miller, Donghyun Kim, and Sangbae Kim · 2020
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Path planning with local motion estimations
Jérôme Guzzi, R Omar Chavez-Garcia, Mirko Nava, Luca Maria Gambardella, and Alessandro Giusti · 2020
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Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot
Donghyun Kim, D Carballo, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, Bryan Lim, and Sangbae Kim · 2020
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Deep dynamics models for learning dexterous manipulation
Anusha Nagabandi, Kurt Konolige, Sergey Levine, and Vikash Kumar · 2020
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Autonomous navigation for quadrupedal robots with optimized jumping through constrained obstacles
Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, et al · 2021
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Learning a state representation and navigation in cluttered and dynamic environments
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, and Marco Hutter · 2021
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Badgr: An autonomous self-supervised learning-based navigation system
Gregory Kahn, Pieter Abbeel, and Sergey Levine · 2021
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Zhongyu Li, Jun Zeng, Shuxiao Chen, and Koushil Sreenath · 2021
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Real-time optimal navigation planning using learned motion costs
Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, and Marco Hutter · 2021
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An efficient locally reactive controller for safe navigation in visual teach and repeat missions
Matias Mattamala, Nived Chebrolu, and Maurice Fallon · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2022
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