STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation

4 March 2021

Ali-Akbar Agha-Mohammadi

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Papers citing "STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation"

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Title
SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain Xiaoying Li Long Xu Xiaolin Huang Donglai Xue Zhihao Zhang Zhichao Han Chao Xu Yanjun Cao Fei Gao 62 0 0 04 Mar 2025
Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain Tong Xu Chenhui Pan Madhan B. Rao A. Datar Anuj Pokhrel Yuanjie Lu Xuesu Xiao 40 1 0 17 Feb 2025
PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain Xiaoyi Cai James Queeney Tong Xu A. Datar Chenhui Pan ... Ashton Flather Philip R. Osteen Nicholas Roy Xuesu Xiao Jonathan P. How 28 9 0 04 Sep 2024
Deep Probabilistic Traversability with Test-time Adaptation for Uncertainty-aware Planetary Rover Navigation Masafumi Endo Tatsunori Taniai Genya Ishigami 29 1 0 01 Sep 2024
BenchNav: Simulation Platform for Benchmarking Off-road Navigation Algorithms with Probabilistic Traversability Masafumi Endo Kohei Honda Genya Ishigami 25 2 0 22 May 2024
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision Matías Mattamala Jonas Frey Piotr Libera Nived Chebrolu Georg Martius Cesar Cadena Marco Hutter Maurice F. Fallon SSL 28 8 0 10 Apr 2024
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification Prithvi Akella Anushri Dixit M. Ahmadi Lars Lindemann Margaret P. Chapman George J. Pappas Aaron D. Ames J. W. Burdick 32 5 0 27 Mar 2024
RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving Jonas Frey Shehryar Khattak Manthan Patel Deegan Atha Julian Nubert Curtis Padgett Marco Hutter Patrick Spieler 43 23 0 29 Feb 2024
Path Generation for Wheeled Robots Autonomous Navigation on Vegetated Terrain Zhu Jian Ze-Hui Liu Haoyu Shao Xueqian Wang Xinlei Chen Bin Liang 30 17 0 15 Jun 2023
Fast Traversability Estimation for Wild Visual Navigation Jonas Frey Matías Mattamala Nived Chebrolu Cesar Cadena Maurice F. Fallon Marco Hutter 40 63 0 15 May 2023
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments Jason Gibson Loris Bozzato David D. Fan Rafael Kiesel Daria Stepanova Ali-akbar Agha-mohammadi Evangelos A. Theodorou 32 15 0 03 May 2023
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation Xiangyu Meng Nathan Hatch Alexander Lambert Anqi Li Nolan Wagener ... Samuel Deng G. Okopal D. Fox Byron Boots Amirreza Shaban 3DV 42 56 0 28 Mar 2023
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge Anushri Dixit David D. Fan K. Otsu S. Dey Ali-Akbar Agha-Mohammadi J. W. Burdick 25 75 0 02 Mar 2023
Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation S. Triest Mateo Guaman Castro Parv Maheshwari Matthew Sivaprakasam Wenshan Wang Sebastian Scherer 11 25 0 31 Jan 2023
Flexible Supervised Autonomy for Exploration in Subterranean Environments Harel Biggie Eugene R. Rush Danny G. Riley Shakeeb Ahmad Michael T. Ohradzansky ... Daniel Torres Steve McGuire Eric W. Frew Christoffer Heckman J. Humbert 21 14 0 02 Jan 2023
Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data John So Amber Xie Sunggoo Jung J. Edlund Rohan Thakker Ali Agha-mohammadi Pieter Abbeel Stephen James 26 9 0 25 Oct 2022
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain S. Dergachev K. Muravyev Konstantin Yakovlev 24 8 0 15 Sep 2022
ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured Environments Junwon Seo Taekyung Kim K. Kwak Jihong Min Inwook Shim 36 33 0 14 Sep 2022
Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots Fetullah Atas Grzegorz Cielniak Lars Grimstad 14 12 0 17 Aug 2022
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain Robin Schmid Deegan Atha Frederik E. T. Schöller S. Dey S. Fakoorian ... Barry Ridge Marko Bjelonic Lorenz Wellhausen Marco Hutter Ali-akbar Agha-mohammadi 16 41 0 02 Aug 2022
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains S. Dey David D. Fan Robin Schmid Anushri Dixit K. Otsu Thomas Touma Arndt F. Schilling Ali-akbar Agha-mohammadi 19 10 0 30 Jul 2022
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned Marco Tranzatto M. Dharmadhikari Lukas Bernreiter Marco Camurri Shehryar Khattak ... M. Mueller Maurice F. Fallon Roland Siegwart Marco Hutter Kostas Alexis 36 36 0 11 Jul 2022
Learning Semantics-Aware Locomotion Skills from Human Demonstration Yuxiang Yang Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 13 12 0 27 Jun 2022
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Matěj Petrlík Pavel Petráček Vít Krátký Tomáš Musil Yurii Stasinchuk ... Tomáš Báča Daniel Heřt M. Pecka Tomáš Svoboda M. Saska 21 24 0 16 Jun 2022
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity Maíra Saboia Lillian Clark Vivek Thangavelu J. Edlund K. Otsu ... T. Vaquero Giovanni Beltrame N. Napp G. Pessin Ali-akbar Agha-mohammadi 19 28 0 05 Jun 2022
A Survey of Traversability Estimation for Mobile Robots Christos Sevastopoulos S. Konstantopoulos 43 34 0 22 Apr 2022
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments Jonas Frey David Hoeller Shehryar Khattak Marco Hutter 13 53 0 29 Mar 2022
Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map Xiaoyi Cai Michael Everett Jonathan R. Fink Jonathan P. How 8 49 0 25 Mar 2022
Distributionally Robust Model Predictive Control with Total Variation Distance Anushri Dixit M. Ahmadi J. W. Burdick 17 16 0 22 Mar 2022
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget Oriana Peltzer Amanda Bouman Sung-Kyun Kim Ransalu Senanayake Joshua Ott ... Mamoru Sobue Mykel Kochenderfer Mac Schwager J. W. Burdick Ali-akbar Agha-mohammadi 11 16 0 12 Mar 2022
PUTN: A Plane-fitting based Uneven Terrain Navigation Framework Zhu Jian Zih-Rong Lu Xiao Zhou Bin Lan Anxing Xiao Xueqian Wang Bin Liang 8 47 0 09 Mar 2022
Predict the Rover Mobility over Soft Terrain using Articulated Wheeled Bevameter Wenyao Zhang Shipeng Lyu Feng Xue Chen Yao Zheng-Rong Zhu Zhenzhong Jia 21 14 0 17 Feb 2022
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments Nitish Dashora Daniel Shin Dhruv Shah Henry A. Leopold David D. Fan Ali Agha-Mohammadi Nicholas Rhinehart Sergey Levine OffRL 10 14 0 22 Nov 2021
Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures A. Jasour Xin Huang Allen Wang B. Williams AI4CE 16 15 0 21 Sep 2021
Risk-Averse Decision Making Under Uncertainty M. Ahmadi Ugo Rosolia M. Ingham R. Murray Aaron D. Ames 17 6 0 09 Sep 2021
Learning Risk-aware Costmaps for Traversability in Challenging Environments David D. Fan Sharmita Dey Ali-akbar Agha-mohammadi Evangelos A. Theodorou 31 30 0 25 Jul 2021
Risk-Averse Stochastic Shortest Path Planning M. Ahmadi Anushri Dixit J. W. Burdick Aaron D. Ames 14 11 0 26 Mar 2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 25 142 0 21 Mar 2021
Dynamic Lambda-Field: A Counterpart of the Bayesian Occupancy Grid for Risk Assessment in Dynamic Environments Johann Laconte Elie Randriamiarintsoa Abderrahim Kasmi F. Pomerleau R. Chapuis C. Debain R. Aufrère 6 5 0 08 Mar 2021
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments Sung-Kyun Kim Amanda Bouman G. Salhotra David D. Fan K. Otsu J. W. Burdick Ali-akbar Agha-mohammadi 14 48 0 10 Feb 2021
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion Amanda Bouman M. Ginting Nikhilesh Alatur M. Palieri David D. Fan ... T. Pailevanian Sung-Kyun Kim K. Otsu J. W. Burdick Ali-akbar Agha-mohammadi 100 128 0 19 Oct 2020
Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments Éric Pairet J. D. Hernández M. Carreras Y. Pétillot Morteza Lahijanian 4 38 0 26 Apr 2020
Risk-Sensitive and Robust Decision-Making: a CVaR Optimization Approach Yinlam Chow Aviv Tamar Shie Mannor Marco Pavone 67 310 0 06 Jun 2015