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Due to the highly complex environment present during the DARPA Subterranean Challenge, all six funded teams relied on legged robots as part of their robotic team.
Traversability classification using unsupervised on-line visual learning for outdoor robot navigation
Kim, D., Sun, J., Oh, S. M., Rehg, J. M., and Bobick, A. F. (2006) · 2006
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Scene understanding for a high-mobility walking robot
Bradley, D. M., Chang, J. K., Silver, D., Powers, M., Herman, H., Rander, P., and Stentz, A. (2015) · 2015
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Lazy collision checking in asymptotically-optimal motion planning
Hauser, K. (2015) · 2015
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A reachability-based planner for sequences of acyclic contacts in cluttered environments
Tonneau, S., Mansard, N., Park, C., Manocha, D., Multon, F., and Pettré, J. (2015) · 2015
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Anymal-a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016
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Autonomous terrain classification with co-and self-training approach
Otsu, K., Ono, M., Fuchs, T. J., Baldwin, I., and Kubota, T. (2016) · 2016
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Spoc: Deep learning-based terrain classification for mars rover missions
Rothrock, B., Kennedy, R., Cunningham, C., Papon, J., Heverly, M., and Ono, M. (2016) · 2016
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Navigation planning for legged robots in challenging terrain
Wermelinger, M., Fankhauser, P., Diethelm, R., Krüsi, P., Siegwart, R., and Hutter, M. (2016) · 2016
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Find your own way: Weakly-supervised segmentation of path proposals for urban autonomy
Barnes, D., Maddern, W., and Posner, I. (2017) · 2017
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Image classification for ground traversability estimation in robotics
Chavez-Garcia, R. O., Guzzi, J., Gambardella, L. M., and Giusti, A. (2017) · 2017
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A kinodynamic steering-method for legged multi-contact locomotion
Fernbach, P., Tonneau, S., Del Prete, A., and Taïx, M. (2017) · 2017
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Driving on point clouds: Motion planning, trajectory optimization, and terrain assessment in generic nonplanar environments
Krüsi, P., Furgale, P., Bosse, M., and Siegwart, R. (2017) · 2017
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Humanoid navigation in uneven terrain using learned estimates of traversability
Lin, Y.-C. and Berenson, D. (2017) · 2017
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Voxblox: Incremental 3d euclidean signed distance fields for on-board mav planning
Oleynikova, H., Taylor, Z., Fehr, M., Siegwart, R., and Nieto, J. (2017) · 2017
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Adapnet: Adaptive semantic segmentation in adverse environmental conditions
Valada, A., Vertens, J., Dhall, A., and Burgard, W. (2017) · 2017
Cited alongside, same era.
Gonet: A semi-supervised deep learning approach for traversability estimation
Hirose, N., Sadeghian, A., Vázquez, M., Goebel, P., and Savarese, S. (2018) · 2018
Cited alongside, same era.
An efficient acyclic contact planner for multiped robots
Tonneau, S., Del Prete, A., Pettré, J., Park, C., Manocha, D., and Mansard, N. (2018) · 2018
Cited alongside, same era.
Gait and trajectory optimization for legged systems through phase-based end-effector parameterization
Winkler, A. W., Bellicoso, C. D., Hutter, M., and Buchli, J. (2018) · 2018
Cited alongside, same era.
Obstacle avoidance and motion planning scheme for a hexapod robot octopus-iii
Zhao, Y., Chai, X., Gao, F., and Qi, C. (2018) · 2018
Cited alongside, same era.
Sampling-based hierarchical motion planning for a reconfigurable wheel-on-leg planetary analogue exploration rover
Reid, W., Fitch, R., Göktoğan, A. H., and Sukkarieh, S. (2020) · 2020
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Safe robot navigation via multi-modal anomaly detection
Wellhausen, L., Ranftl, R., and Hutter, M. (2020) · 2020
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Tare: A hierarchical framework for efficiently exploring complex 3d environments
Chao, C., Hongbiao, Z., Howie, C., and Ji, Z. (2021) · 2021
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Step: Stochastic traversability evaluation and planning for risk-aware off-road navigation
Fan, D. D., Otsu, K., Kubo, Y., Dixit, A., Burdick, J., and Agha-Mohammadi, A.-A. (2021) · 2021
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Virtual surfaces and attitude aware planning and behaviours for negative obstacle navigation
Hines, T., Stepanas, K., Talbot, F., Sa, I., Lewis, J., Hernandez, E., Kottege, N., and Hudson, N. (2021) · 2021
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On autonomous spatial exploration with small hexapod walking robot using tracking camera intel realsense t265
Bayer, J. and Faigl, J. (2019) · 2019
Cited alongside, same era.
Employing natural terrain semantics in motion planning for a multi-legged robot
Belter, D., Wietrzykowski, J., and Skrzypczyński, P. (2019) · 2019
Cited alongside, same era.
Graph-based path planning for autonomous robotic exploration in subterranean environments
Dang, T., Mascarich, F., Khattak, S., Papachristos, C., and Alexis, K. (2019) · 2019
Cited alongside, same era.
Energy efficient navigation for running legged robots
Harper, M. Y., Nicholson, J. V., Collins, E. G., Pusey, J., and Clark, J. E. (2019) · 2019
Cited alongside, same era.
Where should i walk? predicting terrain properties from images via self-supervised learning
Wellhausen, L., Dosovitskiy, A., Ranftl, R., Walas, K., Cadena, C., and Hutter, M. (2019) · 2019
Cited alongside, same era.
Speeded up elevation map for exploration of large-scale subterranean environments
Bayer, J. and Faigl, J. (2020) · 2020
Cited alongside, same era.
Path planning with local motion estimations
Guzzi, J., Chavez-Garcia, R. O., Nava, M., Gambardella, L. M., and Giusti, A. (2020) · 2020
Cited alongside, same era.
Ohradzansky, M. T., Rush, E. R., Riley, D. G., Mills, A. B., Ahmad, S., McGuire, S., Biggie, H., Harlow, K., Miles, M. J., Frew, E. W., Heckman, C., and Humbert, J. S. (2021) · 2021
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Autonomous off-road navigation over extreme terrains with perceptually-challenging conditions
Thakker, R., Alatur, N., Fan, D. D., Tordesillas, J., Paton, M., Otsu, K., Toupet, O., and Agha-mohammadi, A.-a. (2021) · 2021
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Passing through narrow gaps with deep reinforcement learning
Tidd, B., Cosgun, A., Leitner, J., and Hudson, N. (2021) · 2021
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Rough terrain navigation for legged robots using reachability planning and template learning
Wellhausen, L. and Hutter, M. (2021) · 2021
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Real-time optimal navigation planning using learned motion costs
Yang, B., Wellhausen, L., Miki, T., Liu, M., and Hutter, M. (2021a) · 2021
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A survey on terrain traversability analysis for autonomous ground vehicles: Methods, sensors, and challenges
Borges, P., Peynot, T., Liang, S., Arain, B., Wildie, M., Minareci, M., Lichman, S., Samvedi, G., Sa, I., Hudson, N., et al. (2022) · 2022
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Frey, J., Hoeller, D., Khattak, S., and Hutter, M. (2022) · 2022
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Autonomous teamed exploration of subterranean environments using legged and aerial robots
Kulkarni, M., Dharmadhikari, M., Tranzatto, M., Zimmermann, S., Reijgwart, V., De Petris, P., Nguyen, H., Khedekar, N., Papachristos, C., Ott, L., Siegwart, R., Hutter, M., and Alexis, K. (2022) · 2022
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