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Terrain traversability in unstructured off-road autonomy has traditionally relied on semantic classification, resource-intensive dynamics models, or purely geometry-based methods to predict vehicle-terrain interactions.
Driving autonomously off-road up to 35 km/h
D. Coombs, K. Murphy, A. Lacaze, and S. Legowik · 2000
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Differential-braking-based rollover prevention for sport utility vehicles with human-in-the-loop evaluations
Bo-Chiuan Chen and Huei Peng · 2001
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Toward reliable off road autonomous vehicles operating in challenging environments
Alonzo Kelly, Anthony Stentz, Omead Amidi, Mike Bode, David Bradley, Antonio Diaz-Calderon, Mike Happold, Herman Herman, Robert Mandelbaum, Tom Pilarski, Pete Rander, Scott Thayer, Nick Vallidis, and Randy Warner · 2006
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Multi-level surface maps for outdoor terrain mapping and loop closing
Rudolph Triebel, Patrick Pfaff, and Wolfram Burgard · 2006
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Autonomous automobile trajectory tracking for off-road driving: Controller design, experimental validation and racing
Gabriel M. Hoffmann, Claire J. Tomlin, Michael Montemerlo, and Sebastian Thrun · 2007
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Optimal rough terrain trajectory generation for wheeled mobile robots
Thomas M. Howard and Alonzo Kelly · 2007
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Online speed adaptation using supervised learning for high-speed, off-road autonomous driving
David Stavens, G. Hoffmann, and S. Thrun · 2007
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Lateral load transfer and normal forces estimation for vehicle safety: experimental test
M. Doumiati, A. Victorino, A. Charara, and D. Lechner · 2009
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Engineering Dynamics
Jeremy Kasdin and Derek Paley · 2011
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Vehicle dynamic estimation with road bank angle consideration for rollover detection: theoretical and experimental studies
H Dahmani, M Chadli, A Rabhi, and A El Hajjaji · 2013
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A new predictive lateral load transfer ratio for rollover prevention systems
Chad Larish, Damrongrit Piyabongkarn, Vasilios Tsourapas, and Rajesh Rajamani · 2013
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Robotic urban search and rescue: A survey from the control perspective
Yugang Liu and Goldie Nejat · 2013
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A technical review on navigation systems of agricultural autonomous off-road vehicles
Hossein Mousazadeh · 2013
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Another look at the static stability factor (ssf) in predicting vehicle rollover
Ronald L Huston and Fred A Kelly · 2014
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Kinematic and dynamic vehicle models for autonomous driving control design
Jason Kong, Mark Pfeiffer, Georg Schildbach, and Francesco Borrelli · 2015
Earlier work this paper cites.
Efficient sampling-based motion planning for on-road autonomous driving
Liang Ma, Jianru Xue, Kuniaki Kawabata, Jihua Zhu, Chao Ma, and Nanning Zheng · 2015
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A survey of motion planning and control techniques for self-driving urban vehicles
Brian Paden, Michal Čáp, Sze Zheng Yong, Dmitry Yershov, and Emilio Frazzoli · 2016
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Driving on point clouds: Motion planning, trajectory optimization, and terrain assessment in generic nonplanar environments
Philipp Krüsi, Paul Furgale, Michael Bosse, and Roland Siegwart · 2017
Cited alongside, same era.
Trends and rollover-reduction effectiveness of static stability factor in passenger vehicles
Jia-Ern Pai · 2017
Cited alongside, same era.
Information theoretic mpc for model-based reinforcement learning
Grady Williams, Nolan Wagener, Brian Goldfain, Paul Drews, James M Rehg, Byron Boots, and Evangelos A Theodorou · 2017
Cited alongside, same era.
Probabilistic terrain mapping for mobile robots with uncertain localization
Péter Fankhauser, Michael Bloesch, and Marco Hutter · 2018
Cited alongside, same era.
Real-time semantic mapping for autonomous off-road navigation
Daniel Maturana, Po-Wei Chou, Masashi Uenoyama, and Sebastian Scherer · 2018
Cited alongside, same era.
Tns: Terrain traversability mapping and navigation system for autonomous excavators
Tianrui Guan, Zhenpeng He, Ruitao Song, Dinesh Manocha, and Liangjun Zhang · 2022
Later among the works it cites.
Semantic terrain classification for off-road autonomous driving
Amirreza Shaban, Xiangyun Meng, JoonHo Lee, Byron Boots, and Dieter Fox · 2022
Later among the works it cites.
Reconstructing occluded elevation information in terrain maps with self-supervised learning
Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, and Marco Hutter · 2022
Later among the works it cites.
Path tracking control strategy for off-road 4ws4wd vehicle based on robust model predictive control
Qifan Tan, Cheng Qiu, Jing Huang, Yue Yin, Xinyu Zhang, and Huaping Liu · 2022
Later among the works it cites.
Tartandrive: A large-scale dataset for learning off-road dynamics models
Samuel Triest, Matthew Sivaprakasam, Sean J Wang, Wenshan Wang, Aaron M Johnson, and Sebastian Scherer · 2022
Later among the works it cites.
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N Wagener, C Cheng, J Sacks, and B Boots · 2019
Cited alongside, same era.
Storm: An integrated framework for fast joint-space model-predictive control for reactive manipulation
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D Ratliff, Dieter Fox, Fabio Ramos, and Byron Boots · 2021
Cited alongside, same era.
Neat: Neural attention fields for end-to-end autonomous driving
Kashyap Chitta, Aditya Prakash, and Andreas Geiger · 2021
Cited alongside, same era.
Step: Stochastic traversability evaluation and planning for risk-aware off-road navigation
David D Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, and Ali-Akbar Agha-Mohammadi · 2021
Cited alongside, same era.
Autonomous off-road navigation over extreme terrains with perceptually-challenging conditions
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, and Ali-akbar Agha-mohammadi · 2021
Cited alongside, same era.
Learning inverse kinodynamics for accurate high-speed off-road navigation on unstructured terrain
Xuesu Xiao, Joydeep Biswas, and Peter Stone · 2021
Cited alongside, same era.
Nonlinear model predictive planning and control for high-speed autonomous vehicles on 3d terrains
Siyuan Yu, Congkai Shen, and Tulga Ersal · 2021
Cited alongside, same era.
Pushing limits of off-road autonomy in darpa’s racer program - national robotics engineering center - carnegie mellon university, 2022
Carnegie Mellon University · 2022
Later among the works it cites.
How does it feel? self-supervised costmap learning for off-road vehicle traversability
Mateo Guaman Castro, Samuel Triest, Wenshan Wang, Jason M. Gregory, Felix Sanchez, John G. Rogers, and Sebastian Scherer · 2023
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Learning to model and plan for wheeled mobility on vertically challenging terrain
Aniket Datar, Chenhui Pan, and Xuesu Xiao · 2023
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A multi-step dynamics modeling framework for autonomous driving in multiple environments
Jason Gibson, Bogdan Vlahov, David Fan, Patrick Spieler, Daniel Pastor, Ali-akbar Agha-mohammadi, and Evangelos A. Theodorou · 2023
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Learning terrain-aware kinodynamic model for autonomous off-road rally driving with model predictive path integral control
Hojin Lee, Taekyung Kim, Jungwi Mun, and Wonsuk Lee · 2023
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Piaug – physics informed augmentation for learning vehicle dynamics for off-road navigation
Parv Maheshwari, Wenshan Wang, Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, John G. Rogers III, Jason M. Gregory, and Sebastian Scherer · 2023
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Terrainnet: Visual modeling of complex terrain for high-speed, off-road navigation
Xiangyun Meng, Nathan Hatch, Alexander Lambert, Anqi Li, Nolan Wagener, Matthew Schmittle, JoonHo Lee, Wentao Yuan, Zoey Chen, Samuel Deng, et al · 2023
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Learning risk-aware costmaps via inverse reinforcement learning for off-road navigation
Samuel Triest, Mateo Guaman Castro, Parv Maheshwari, Matthew Sivaprakasam, Wenshan Wang, and Sebastian Scherer · 2023
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Roadrunner - learning traversability estimation for autonomous off-road driving
Jonas Frey, Shehryar Khattak, Manthan Patel, Deegan Atha, Julian Nubert, Curtis Padgett, Marco Hutter, and Patrick Spieler · 2024
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An intelligent predictive algorithm for the anti-rollover prevention of heavy vehicles for off-road applications
Antonio Tota, Luca Dimauro, Filippo Velardocchia, Genny Paciullo, and Mauro Velardocchia · 2075
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Rollover-free path planning for off-road autonomous driving
Xingyu Li, Bo Tang, John Ball, Matthew Doude, and Daniel W. Carruth · 2079
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